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

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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
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13
wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp
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@@ -43,13 +43,13 @@ TEST(DifferentialDriveSimTest, Convergence) {
frc::Pose2d(), {}, frc::Pose2d(2_m, 2_m, 0_rad), config);
// NOLINTNEXTLINE
for (double t = 0; t < trajectory.TotalTime().to<double>(); t += 0.02) {
for (double t = 0; t < trajectory.TotalTime().value(); t += 0.02) {
auto state = trajectory.Sample(20_ms);
auto ramseteOut = ramsete.Calculate(sim.GetPose(), state);
auto [l, r] = kinematics.ToWheelSpeeds(ramseteOut);
auto voltages = feedforward.Calculate(
Eigen::Vector<double, 2>{l.to<double>(), r.to<double>()});
auto voltages =
feedforward.Calculate(Eigen::Vector<double, 2>{l.value(), r.value()});
// Sim periodic code.
sim.SetInputs(units::volt_t(voltages(0, 0)), units::volt_t(voltages(1, 0)));
@@ -65,10 +65,9 @@ TEST(DifferentialDriveSimTest, Convergence) {
// 2 inch tolerance is OK since our ground truth is an approximation of the
// ODE solution using RK4 anyway
EXPECT_NEAR(groundTruthX(0, 0), sim.GetPose().X().to<double>(), 0.05);
EXPECT_NEAR(groundTruthX(1, 0), sim.GetPose().Y().to<double>(), 0.05);
EXPECT_NEAR(groundTruthX(2, 0), sim.GetHeading().Radians().to<double>(),
0.01);
EXPECT_NEAR(groundTruthX(0, 0), sim.GetPose().X().value(), 0.05);
EXPECT_NEAR(groundTruthX(1, 0), sim.GetPose().Y().value(), 0.05);
EXPECT_NEAR(groundTruthX(2, 0), sim.GetHeading().Radians().value(), 0.01);
}
TEST(DifferentialDriveSimTest, Current) {