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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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50
wpimath/src/main/native/cpp/spline/SplineHelper.cpp
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@@ -52,29 +52,27 @@ std::vector<CubicHermiteSpline> SplineHelper::CubicSplinesFromControlVectors(
c.emplace_back(0);
// populate rhs vectors
dx.emplace_back(
3 * (waypoints[2].X().to<double>() - waypoints[0].X().to<double>()) -
xInitial[1]);
dy.emplace_back(
3 * (waypoints[2].Y().to<double>() - waypoints[0].Y().to<double>()) -
yInitial[1]);
dx.emplace_back(3 * (waypoints[2].X().value() - waypoints[0].X().value()) -
xInitial[1]);
dy.emplace_back(3 * (waypoints[2].Y().value() - waypoints[0].Y().value()) -
yInitial[1]);
if (waypoints.size() > 4) {
for (size_t i = 1; i <= waypoints.size() - 4; ++i) {
// dx and dy represent the derivatives of the internal waypoints. The
// derivative of the second internal waypoint should involve the third
// and first internal waypoint, which have indices of 1 and 3 in the
// waypoints list (which contains ALL waypoints).
dx.emplace_back(3 * (waypoints[i + 2].X().to<double>() -
waypoints[i].X().to<double>()));
dy.emplace_back(3 * (waypoints[i + 2].Y().to<double>() -
waypoints[i].Y().to<double>()));
dx.emplace_back(
3 * (waypoints[i + 2].X().value() - waypoints[i].X().value()));
dy.emplace_back(
3 * (waypoints[i + 2].Y().value() - waypoints[i].Y().value()));
}
}
dx.emplace_back(3 * (waypoints[waypoints.size() - 1].X().to<double>() -
waypoints[waypoints.size() - 3].X().to<double>()) -
dx.emplace_back(3 * (waypoints[waypoints.size() - 1].X().value() -
waypoints[waypoints.size() - 3].X().value()) -
xFinal[1]);
dy.emplace_back(3 * (waypoints[waypoints.size() - 1].Y().to<double>() -
waypoints[waypoints.size() - 3].Y().to<double>()) -
dy.emplace_back(3 * (waypoints[waypoints.size() - 1].Y().value() -
waypoints[waypoints.size() - 3].Y().value()) -
yFinal[1]);
// Compute solution to tridiagonal system
@@ -89,10 +87,10 @@ std::vector<CubicHermiteSpline> SplineHelper::CubicSplinesFromControlVectors(
for (size_t i = 0; i < fx.size() - 1; ++i) {
// Create the spline.
const CubicHermiteSpline spline{
{waypoints[i].X().to<double>(), fx[i]},
{waypoints[i + 1].X().to<double>(), fx[i + 1]},
{waypoints[i].Y().to<double>(), fy[i]},
{waypoints[i + 1].Y().to<double>(), fy[i + 1]}};
{waypoints[i].X().value(), fx[i]},
{waypoints[i + 1].X().value(), fx[i + 1]},
{waypoints[i].Y().value(), fy[i]},
{waypoints[i + 1].Y().value(), fy[i + 1]}};
splines.push_back(spline);
}
@@ -102,10 +100,8 @@ std::vector<CubicHermiteSpline> SplineHelper::CubicSplinesFromControlVectors(
const double yDeriv =
(3 * (yFinal[0] - yInitial[0]) - yFinal[1] - yInitial[1]) / 4.0;
wpi::array<double, 2> midXControlVector{waypoints[0].X().to<double>(),
xDeriv};
wpi::array<double, 2> midYControlVector{waypoints[0].Y().to<double>(),
yDeriv};
wpi::array<double, 2> midXControlVector{waypoints[0].X().value(), xDeriv};
wpi::array<double, 2> midYControlVector{waypoints[0].Y().value(), yDeriv};
splines.emplace_back(xInitial, midXControlVector, yInitial,
midYControlVector);
@@ -140,16 +136,14 @@ SplineHelper::CubicControlVectorsFromWaypoints(
const Pose2d& end) {
double scalar;
if (interiorWaypoints.empty()) {
scalar = 1.2 * start.Translation().Distance(end.Translation()).to<double>();
scalar = 1.2 * start.Translation().Distance(end.Translation()).value();
} else {
scalar =
1.2 *
start.Translation().Distance(interiorWaypoints.front()).to<double>();
1.2 * start.Translation().Distance(interiorWaypoints.front()).value();
}
const auto initialCV = CubicControlVector(scalar, start);
if (!interiorWaypoints.empty()) {
scalar =
1.2 * end.Translation().Distance(interiorWaypoints.back()).to<double>();
scalar = 1.2 * end.Translation().Distance(interiorWaypoints.back()).value();
}
const auto finalCV = CubicControlVector(scalar, end);
return {initialCV, finalCV};
@@ -165,7 +159,7 @@ std::vector<QuinticHermiteSpline> SplineHelper::QuinticSplinesFromWaypoints(
// This just makes the splines look better.
const auto scalar =
1.2 * p0.Translation().Distance(p1.Translation()).to<double>();
1.2 * p0.Translation().Distance(p1.Translation()).value();
auto controlVectorA = QuinticControlVector(scalar, p0);
auto controlVectorB = QuinticControlVector(scalar, p1);