Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-22 01:11:42 +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

20
wpimath/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp
View File

@@ -21,9 +21,9 @@ MecanumDriveWheelSpeeds MecanumDriveKinematics::ToWheelSpeeds(
m_previousCoR = centerOfRotation;
}
Eigen::Vector3d chassisSpeedsVector{chassisSpeeds.vx.to<double>(),
chassisSpeeds.vy.to<double>(),
chassisSpeeds.omega.to<double>()};
Eigen::Vector3d chassisSpeedsVector{chassisSpeeds.vx.value(),
chassisSpeeds.vy.value(),
chassisSpeeds.omega.value()};
Eigen::Vector<double, 4> wheelsVector =
m_inverseKinematics * chassisSpeedsVector;
@@ -39,8 +39,8 @@ MecanumDriveWheelSpeeds MecanumDriveKinematics::ToWheelSpeeds(
ChassisSpeeds MecanumDriveKinematics::ToChassisSpeeds(
const MecanumDriveWheelSpeeds& wheelSpeeds) const {
Eigen::Vector<double, 4> wheelSpeedsVector{
wheelSpeeds.frontLeft.to<double>(), wheelSpeeds.frontRight.to<double>(),
wheelSpeeds.rearLeft.to<double>(), wheelSpeeds.rearRight.to<double>()};
wheelSpeeds.frontLeft.value(), wheelSpeeds.frontRight.value(),
wheelSpeeds.rearLeft.value(), wheelSpeeds.rearRight.value()};
Eigen::Vector3d chassisSpeedsVector =
m_forwardKinematics.solve(wheelSpeedsVector);
@@ -54,9 +54,9 @@ void MecanumDriveKinematics::SetInverseKinematics(Translation2d fl,
Translation2d fr,
Translation2d rl,
Translation2d rr) const {
m_inverseKinematics = Eigen::Matrix<double, 4, 3>{
{1, -1, (-(fl.X() + fl.Y())).template to<double>()},
{1, 1, (fr.X() - fr.Y()).template to<double>()},
{1, 1, (rl.X() - rl.Y()).template to<double>()},
{1, -1, (-(rr.X() + rr.Y())).template to<double>()}};
m_inverseKinematics =
Eigen::Matrix<double, 4, 3>{{1, -1, (-(fl.X() + fl.Y())).value()},
{1, 1, (fr.X() - fr.Y()).value()},
{1, 1, (rl.X() - rl.Y()).value()},
{1, -1, (-(rr.X() + rr.Y())).value()}};
}