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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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16
wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
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@@ -96,14 +96,12 @@ Pose2d DifferentialDrivePoseEstimator::UpdateWithTime(
auto omega = (gyroAngle - m_previousAngle).Radians() / dt;
auto u = Eigen::Vector<double, 3>{
(wheelSpeeds.left + wheelSpeeds.right).to<double>() / 2.0, 0.0,
omega.to<double>()};
(wheelSpeeds.left + wheelSpeeds.right).value() / 2.0, 0.0, omega.value()};
m_previousAngle = angle;
auto localY = Eigen::Vector<double, 3>{leftDistance.to<double>(),
rightDistance.to<double>(),
angle.Radians().to<double>()};
auto localY = Eigen::Vector<double, 3>{
leftDistance.value(), rightDistance.value(), angle.Radians().value()};
m_latencyCompensator.AddObserverState(m_observer, u, localY, currentTime);
m_observer.Predict(u, dt);
@@ -140,8 +138,8 @@ wpi::array<double, Dim> DifferentialDrivePoseEstimator::StdDevMatrixToArray(
Eigen::Vector<double, 5> DifferentialDrivePoseEstimator::FillStateVector(
const Pose2d& pose, units::meter_t leftDistance,
units::meter_t rightDistance) {
return Eigen::Vector<double, 5>{
pose.Translation().X().to<double>(), pose.Translation().Y().to<double>(),
pose.Rotation().Radians().to<double>(), leftDistance.to<double>(),
rightDistance.to<double>()};
return Eigen::Vector<double, 5>{pose.Translation().X().value(),
pose.Translation().Y().value(),
pose.Rotation().Radians().value(),
leftDistance.value(), rightDistance.value()};
}