Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Replace .to<double>() and .template to<double>() with .value() (#3667)

Browse Source 
It's a less verbose way to do the same thing.
This commit is contained in:
Tyler Veness
2021-10-25 08:58:12 -07:00
committed by GitHub
parent 6bc1db44bc
commit 181723e573
134 changed files with 782 additions and 826 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
View File

@@ -72,7 +72,7 @@ units::ampere_t SingleJointedArmSim::GetCurrentDraw() const {
}
void SingleJointedArmSim::SetInputVoltage(units::volt_t voltage) {
SetInput(Eigen::Vector<double, 1>{voltage.to<double>()});
SetInput(Eigen::Vector<double, 1>{voltage.value()});
}
Eigen::Vector<double, 2> SingleJointedArmSim::UpdateX(
@@ -96,7 +96,7 @@ Eigen::Vector<double, 2> SingleJointedArmSim::UpdateX(
xdot += Eigen::Vector<double, 2>{
0.0, (m_mass * m_r * -9.8 * 3.0 / (m_mass * m_r * m_r) *
std::cos(x(0)))
.template to<double>()};
.value()};
}
return xdot;
},
@@ -104,9 +104,9 @@ Eigen::Vector<double, 2> SingleJointedArmSim::UpdateX(
// Check for collisions.
if (WouldHitLowerLimit(units::radian_t(updatedXhat(0)))) {
return Eigen::Vector<double, 2>{m_minAngle.to<double>(), 0.0};
return Eigen::Vector<double, 2>{m_minAngle.value(), 0.0};
} else if (WouldHitUpperLimit(units::radian_t(updatedXhat(0)))) {
return Eigen::Vector<double, 2>{m_maxAngle.to<double>(), 0.0};
return Eigen::Vector<double, 2>{m_maxAngle.value(), 0.0};
}
return updatedXhat;
}