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

It's a less verbose way to do the same thing.
2026-06-25 01:41:43 +00:00 · 2021-10-25 08:58:12 -07:00
parent 6bc1db44bc
commit 181723e573
134 changed files with 782 additions and 826 deletions
--- a/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
@@ -166,7 +166,7 @@ class ControlAffinePlantInversionFeedforward {
  Eigen::Vector<double, Inputs> Calculate(
      const Eigen::Vector<double, States>& r,
      const Eigen::Vector<double, States>& nextR) {
-    Eigen::Vector<double, States> rDot = (nextR - r) / m_dt.to<double>();
+    Eigen::Vector<double, States> rDot = (nextR - r) / m_dt.value();

    m_uff = m_B.householderQr().solve(
        rDot - m_f(r, Eigen::Vector<double, Inputs>::Zero()));
--- a/wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
+++ b/wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
@@ -193,8 +193,8 @@ class ProfiledPIDController
   * @param maximumInput The maximum value expected from the input.
   */
  void EnableContinuousInput(Distance_t minimumInput, Distance_t maximumInput) {
-    m_controller.EnableContinuousInput(minimumInput.template to<double>(),
-                                       maximumInput.template to<double>());
+    m_controller.EnableContinuousInput(minimumInput.value(),
+                                       maximumInput.value());
    m_minimumInput = minimumInput;
    m_maximumInput = maximumInput;
  }
@@ -227,8 +227,8 @@ class ProfiledPIDController
  void SetTolerance(
      Distance_t positionTolerance,
      Velocity_t velocityTolerance = std::numeric_limits<double>::infinity()) {
-    m_controller.SetTolerance(positionTolerance.template to<double>(),
-                              velocityTolerance.template to<double>());
+    m_controller.SetTolerance(positionTolerance.value(),
+                              velocityTolerance.value());
  }

  /**
@@ -273,8 +273,8 @@ class ProfiledPIDController

    frc::TrapezoidProfile<Distance> profile{m_constraints, m_goal, m_setpoint};
    m_setpoint = profile.Calculate(GetPeriod());
-    return m_controller.Calculate(measurement.template to<double>(),
-                                  m_setpoint.position.template to<double>());
+    return m_controller.Calculate(measurement.value(),
+                                  m_setpoint.position.value());
  }

  /**
@@ -351,7 +351,7 @@ class ProfiledPIDController
    builder.AddDoubleProperty(
        "d", [this] { return GetD(); }, [this](double value) { SetD(value); });
    builder.AddDoubleProperty(
-        "goal", [this] { return GetGoal().position.template to<double>(); },
+        "goal", [this] { return GetGoal().position.value(); },
        [this](double value) { SetGoal(Distance_t{value}); });
  }

--- a/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
@@ -70,10 +70,10 @@ class SimpleMotorFeedforward {
    auto plant = LinearSystemId::IdentifyVelocitySystem<Distance>(kV, kA);
    LinearPlantInversionFeedforward<1, 1> feedforward{plant, dt};

-    Eigen::Vector<double, 1> r{currentVelocity.template to<double>()};
-    Eigen::Vector<double, 1> nextR{nextVelocity.template to<double>()};
+    Eigen::Vector<double, 1> r{currentVelocity.value()};
+    Eigen::Vector<double, 1> nextR{nextVelocity.value()};

-    return kS * wpi::sgn(currentVelocity.template to<double>()) +
+    return kS * wpi::sgn(currentVelocity.value()) +
           units::volt_t{feedforward.Calculate(r, nextR)(0)};
  }

--- a/wpimath/src/main/native/include/frc/estimator/AngleStatistics.h
+++ b/wpimath/src/main/native/include/frc/estimator/AngleStatistics.h
@@ -25,7 +25,7 @@ Eigen::Vector<double, States> AngleResidual(
    const Eigen::Vector<double, States>& b, int angleStateIdx) {
  Eigen::Vector<double, States> ret = a - b;
  ret[angleStateIdx] =
-      AngleModulus(units::radian_t{ret[angleStateIdx]}).to<double>();
+      AngleModulus(units::radian_t{ret[angleStateIdx]}).value();
  return ret;
 }

--- a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
@@ -269,11 +269,10 @@ class SwerveDrivePoseEstimator {
        Translation2d(chassisSpeeds.vx * 1_s, chassisSpeeds.vy * 1_s)
            .RotateBy(angle);

-    Eigen::Vector<double, 3> u{fieldRelativeSpeeds.X().template to<double>(),
-                               fieldRelativeSpeeds.Y().template to<double>(),
-                               omega.template to<double>()};
+    Eigen::Vector<double, 3> u{fieldRelativeSpeeds.X().value(),
+                               fieldRelativeSpeeds.Y().value(), omega.value()};

-    Eigen::Vector<double, 1> localY{angle.Radians().template to<double>()};
+    Eigen::Vector<double, 1> localY{angle.Radians().value()};
    m_previousAngle = angle;

    m_latencyCompensator.AddObserverState(m_observer, u, localY, currentTime);
--- a/wpimath/src/main/native/include/frc/filter/LinearFilter.h
+++ b/wpimath/src/main/native/include/frc/filter/LinearFilter.h
@@ -125,7 +125,7 @@ class LinearFilter {
   */
  static LinearFilter<T> SinglePoleIIR(double timeConstant,
                                       units::second_t period) {
-    double gain = std::exp(-period.to<double>() / timeConstant);
+    double gain = std::exp(-period.value() / timeConstant);
    return LinearFilter({1.0 - gain}, {-gain});
  }

@@ -144,7 +144,7 @@ class LinearFilter {
   *                     user.
   */
  static LinearFilter<T> HighPass(double timeConstant, units::second_t period) {
-    double gain = std::exp(-period.to<double>() / timeConstant);
+    double gain = std::exp(-period.value() / timeConstant);
    return LinearFilter({gain, -gain}, {-gain});
  }

@@ -225,7 +225,7 @@ class LinearFilter {
    }

    Eigen::Vector<double, Samples> a =
-        S.householderQr().solve(d) / std::pow(period.to<double>(), Derivative);
+        S.householderQr().solve(d) / std::pow(period.value(), Derivative);

    // Reverse gains list
    std::vector<double> gains;
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
@@ -65,8 +65,8 @@ class SwerveDriveKinematics {
    for (size_t i = 0; i < NumModules; i++) {
      // clang-format off
      m_inverseKinematics.template block<2, 3>(i * 2, 0) <<
-        1, 0, (-m_modules[i].Y()).template to<double>(),
-        0, 1, (+m_modules[i].X()).template to<double>();
+        1, 0, (-m_modules[i].Y()).value(),
+        0, 1, (+m_modules[i].X()).value();
      // clang-format on
    }

@@ -82,8 +82,8 @@ class SwerveDriveKinematics {
    for (size_t i = 0; i < NumModules; i++) {
      // clang-format off
      m_inverseKinematics.template block<2, 3>(i * 2, 0) <<
-        1, 0, (-m_modules[i].Y()).template to<double>(),
-        0, 1, (+m_modules[i].X()).template to<double>();
+        1, 0, (-m_modules[i].Y()).value(),
+        0, 1, (+m_modules[i].X()).value();
      // clang-format on
    }

--- a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
@@ -26,16 +26,16 @@ SwerveDriveKinematics<NumModules>::ToSwerveModuleStates(
      // clang-format off
      m_inverseKinematics.template block<2, 3>(i * 2, 0) =
        Eigen::Matrix<double, 2, 3>{
-          {1, 0, (-m_modules[i].Y() + centerOfRotation.Y()).template to<double>()},
-          {0, 1, (+m_modules[i].X() - centerOfRotation.X()).template to<double>()}};
+          {1, 0, (-m_modules[i].Y() + centerOfRotation.Y()).value()},
+          {0, 1, (+m_modules[i].X() - centerOfRotation.X()).value()}};
      // clang-format on
    }
    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::Matrix<double, NumModules * 2, 1> moduleStatesMatrix =
      m_inverseKinematics * chassisSpeedsVector;
@@ -46,7 +46,7 @@ SwerveDriveKinematics<NumModules>::ToSwerveModuleStates(
    units::meters_per_second_t y{moduleStatesMatrix(i * 2 + 1, 0)};

    auto speed = units::math::hypot(x, y);
-    Rotation2d rotation{x.to<double>(), y.to<double>()};
+    Rotation2d rotation{x.value(), y.value()};

    moduleStates[i] = {speed, rotation};
  }
@@ -74,10 +74,9 @@ ChassisSpeeds SwerveDriveKinematics<NumModules>::ToChassisSpeeds(

  for (size_t i = 0; i < NumModules; ++i) {
    SwerveModuleState module = moduleStates[i];
-    moduleStatesMatrix(i * 2, 0) =
-        module.speed.to<double>() * module.angle.Cos();
+    moduleStatesMatrix(i * 2, 0) = module.speed.value() * module.angle.Cos();
    moduleStatesMatrix(i * 2 + 1, 0) =
-        module.speed.to<double>() * module.angle.Sin();
+        module.speed.value() * module.angle.Sin();
  }

  Eigen::Vector3d chassisSpeedsVector =
--- a/wpimath/src/main/native/include/frc/spline/Spline.h
+++ b/wpimath/src/main/native/include/frc/spline/Spline.h
@@ -109,8 +109,7 @@ class Spline {
   * @return The vector.
   */
  static Eigen::Vector2d ToVector(const Translation2d& translation) {
-    return Eigen::Vector2d{translation.X().to<double>(),
-                           translation.Y().to<double>()};
+    return Eigen::Vector2d{translation.X().value(), translation.Y().value()};
  }

  /**
--- a/wpimath/src/main/native/include/frc/spline/SplineHelper.h
+++ b/wpimath/src/main/native/include/frc/spline/SplineHelper.h
@@ -80,14 +80,14 @@ class WPILIB_DLLEXPORT SplineHelper {
 private:
  static Spline<3>::ControlVector CubicControlVector(double scalar,
                                                     const Pose2d& point) {
-    return {{point.X().to<double>(), scalar * point.Rotation().Cos()},
-            {point.Y().to<double>(), scalar * point.Rotation().Sin()}};
+    return {{point.X().value(), scalar * point.Rotation().Cos()},
+            {point.Y().value(), scalar * point.Rotation().Sin()}};
  }

  static Spline<5>::ControlVector QuinticControlVector(double scalar,
                                                       const Pose2d& point) {
-    return {{point.X().to<double>(), scalar * point.Rotation().Cos(), 0.0},
-            {point.Y().to<double>(), scalar * point.Rotation().Sin(), 0.0}};
+    return {{point.X().value(), scalar * point.Rotation().Cos(), 0.0},
+            {point.Y().value(), scalar * point.Rotation().Sin(), 0.0}};
  }

  /**
--- a/wpimath/src/main/native/include/frc/system/Discretization.h
+++ b/wpimath/src/main/native/include/frc/system/Discretization.h
@@ -21,7 +21,7 @@ template <int States>
 void DiscretizeA(const Eigen::Matrix<double, States, States>& contA,
                 units::second_t dt,
                 Eigen::Matrix<double, States, States>* discA) {
-  *discA = (contA * dt.to<double>()).exp();
+  *discA = (contA * dt.value()).exp();
 }

 /**
@@ -42,8 +42,8 @@ void DiscretizeAB(const Eigen::Matrix<double, States, States>& contA,
  // Matrices are blocked here to minimize matrix exponentiation calculations
  Eigen::Matrix<double, States + Inputs, States + Inputs> Mcont;
  Mcont.setZero();
-  Mcont.template block<States, States>(0, 0) = contA * dt.to<double>();
-  Mcont.template block<States, Inputs>(0, States) = contB * dt.to<double>();
+  Mcont.template block<States, States>(0, 0) = contA * dt.value();
+  Mcont.template block<States, Inputs>(0, States) = contB * dt.value();

  // Discretize A and B with the given timestep
  Eigen::Matrix<double, States + Inputs, States + Inputs> Mdisc = Mcont.exp();
@@ -76,8 +76,7 @@ void DiscretizeAQ(const Eigen::Matrix<double, States, States>& contA,
  M.template block<States, States>(States, 0).setZero();
  M.template block<States, States>(States, States) = contA.transpose();

-  Eigen::Matrix<double, 2 * States, 2 * States> phi =
-      (M * dt.to<double>()).exp();
+  Eigen::Matrix<double, 2 * States, 2 * States> phi = (M * dt.value()).exp();

  // Phi12 = phi[0:States,        States:2*States]
  // Phi22 = phi[States:2*States, States:2*States]
@@ -122,7 +121,7 @@ void DiscretizeAQTaylor(const Eigen::Matrix<double, States, States>& contA,
  Eigen::Matrix<double, States, States> Q = (contQ + contQ.transpose()) / 2.0;

  Eigen::Matrix<double, States, States> lastTerm = Q;
-  double lastCoeff = dt.to<double>();
+  double lastCoeff = dt.value();

  // Aᵀⁿ
  Eigen::Matrix<double, States, States> Atn = contA.transpose();
@@ -132,7 +131,7 @@ void DiscretizeAQTaylor(const Eigen::Matrix<double, States, States>& contA,
  // i = 6 i.e. 5th order should be enough precision
  for (int i = 2; i < 6; ++i) {
    lastTerm = -contA * lastTerm + Q * Atn;
-    lastCoeff *= dt.to<double>() / static_cast<double>(i);
+    lastCoeff *= dt.value() / static_cast<double>(i);

    phi12 += lastTerm * lastCoeff;

@@ -156,7 +155,7 @@ void DiscretizeAQTaylor(const Eigen::Matrix<double, States, States>& contA,
 template <int Outputs>
 Eigen::Matrix<double, Outputs, Outputs> DiscretizeR(
    const Eigen::Matrix<double, Outputs, Outputs>& R, units::second_t dt) {
-  return R / dt.to<double>();
+  return R / dt.value();
 }

 }  // namespace frc
--- a/wpimath/src/main/native/include/frc/system/LinearSystemLoop.h
+++ b/wpimath/src/main/native/include/frc/system/LinearSystemLoop.h
@@ -50,8 +50,7 @@ class LinearSystemLoop {
      : LinearSystemLoop(
            plant, controller, observer,
            [=](const Eigen::Vector<double, Inputs>& u) {
-              return frc::NormalizeInputVector<Inputs>(
-                  u, maxVoltage.template to<double>());
+              return frc::NormalizeInputVector<Inputs>(u, maxVoltage.value());
            },
            dt) {}

@@ -97,7 +96,7 @@ class LinearSystemLoop {
      : LinearSystemLoop(controller, feedforward, observer,
                         [=](const Eigen::Vector<double, Inputs>& u) {
                           return frc::NormalizeInputVector<Inputs>(
-                               u, maxVoltage.template to<double>());
+                               u, maxVoltage.value());
                         }) {}

  /**
--- a/wpimath/src/main/native/include/frc/system/NumericalIntegration.h
+++ b/wpimath/src/main/native/include/frc/system/NumericalIntegration.h
@@ -23,7 +23,7 @@ namespace frc {
 */
 template <typename F, typename T>
 T RK4(F&& f, T x, units::second_t dt) {
-  const auto h = dt.to<double>();
+  const auto h = dt.value();

  T k1 = f(x);
  T k2 = f(x + h * 0.5 * k1);
@@ -43,7 +43,7 @@ T RK4(F&& f, T x, units::second_t dt) {
 */
 template <typename F, typename T, typename U>
 T RK4(F&& f, T x, U u, units::second_t dt) {
-  const auto h = dt.to<double>();
+  const auto h = dt.value();

  T k1 = f(x, u);
  T k2 = f(x + h * 0.5 * k1, u);
@@ -91,13 +91,13 @@ T RKF45(F&& f, T x, U u, units::second_t dt, double maxError = 1e-6) {
  double truncationError;

  double dtElapsed = 0.0;
-  double h = dt.to<double>();
+  double h = dt.value();

  // Loop until we've gotten to our desired dt
-  while (dtElapsed < dt.to<double>()) {
+  while (dtElapsed < dt.value()) {
    do {
      // Only allow us to advance up to the dt remaining
-      h = std::min(h, dt.to<double>() - dtElapsed);
+      h = std::min(h, dt.value() - dtElapsed);

      // Notice how the derivative in the Wikipedia notation is dy/dx.
      // That means their y is our x and their x is our t
@@ -167,13 +167,13 @@ T RKDP(F&& f, T x, U u, units::second_t dt, double maxError = 1e-6) {
  double truncationError;

  double dtElapsed = 0.0;
-  double h = dt.to<double>();
+  double h = dt.value();

  // Loop until we've gotten to our desired dt
-  while (dtElapsed < dt.to<double>()) {
+  while (dtElapsed < dt.value()) {
    do {
      // Only allow us to advance up to the dt remaining
-      h = std::min(h, dt.to<double>() - dtElapsed);
+      h = std::min(h, dt.value() - dtElapsed);

      // clang-format off
      T k1 = f(x, u);
--- a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
+++ b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
@@ -47,9 +47,9 @@ class WPILIB_DLLEXPORT LinearSystemId {
        {0.0, 1.0},
        {0.0, (-std::pow(G, 2) * motor.Kt /
               (motor.R * units::math::pow<2>(r) * m * motor.Kv))
-                  .to<double>()}};
-    Eigen::Matrix<double, 2, 1> B{
-        0.0, (G * motor.Kt / (motor.R * r * m)).to<double>()};
+                  .value()}};
+    Eigen::Matrix<double, 2, 1> B{0.0,
+                                  (G * motor.Kt / (motor.R * r * m)).value()};
    Eigen::Matrix<double, 1, 2> C{1.0, 0.0};
    Eigen::Matrix<double, 1, 1> D{0.0};

@@ -71,10 +71,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
      DCMotor motor, units::kilogram_square_meter_t J, double G) {
    Eigen::Matrix<double, 2, 2> A{
        {0.0, 1.0},
-        {0.0,
-         (-std::pow(G, 2) * motor.Kt / (motor.Kv * motor.R * J)).to<double>()}};
-    Eigen::Matrix<double, 2, 1> B{0.0,
-                                  (G * motor.Kt / (motor.R * J)).to<double>()};
+        {0.0, (-std::pow(G, 2) * motor.Kt / (motor.Kv * motor.R * J)).value()}};
+    Eigen::Matrix<double, 2, 1> B{0.0, (G * motor.Kt / (motor.R * J)).value()};
    Eigen::Matrix<double, 1, 2> C{1.0, 0.0};
    Eigen::Matrix<double, 1, 1> D{0.0};

@@ -107,9 +105,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
  static LinearSystem<1, 1, 1> IdentifyVelocitySystem(
      decltype(1_V / Velocity_t<Distance>(1)) kV,
      decltype(1_V / Acceleration_t<Distance>(1)) kA) {
-    Eigen::Matrix<double, 1, 1> A{-kV.template to<double>() /
-                                  kA.template to<double>()};
-    Eigen::Matrix<double, 1, 1> B{1.0 / kA.template to<double>()};
+    Eigen::Matrix<double, 1, 1> A{-kV.value() / kA.value()};
+    Eigen::Matrix<double, 1, 1> B{1.0 / kA.value()};
    Eigen::Matrix<double, 1, 1> C{1.0};
    Eigen::Matrix<double, 1, 1> D{0.0};

@@ -142,10 +139,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
  static LinearSystem<2, 1, 1> IdentifyPositionSystem(
      decltype(1_V / Velocity_t<Distance>(1)) kV,
      decltype(1_V / Acceleration_t<Distance>(1)) kA) {
-    Eigen::Matrix<double, 2, 2> A{
-        {0.0, 1.0},
-        {0.0, -kV.template to<double>() / kA.template to<double>()}};
-    Eigen::Matrix<double, 2, 1> B{0.0, 1.0 / kA.template to<double>()};
+    Eigen::Matrix<double, 2, 2> A{{0.0, 1.0}, {0.0, -kV.value() / kA.value()}};
+    Eigen::Matrix<double, 2, 1> B{0.0, 1.0 / kA.value()};
    Eigen::Matrix<double, 1, 2> C{1.0, 0.0};
    Eigen::Matrix<double, 1, 1> D{0.0};

@@ -170,12 +165,12 @@ class WPILIB_DLLEXPORT LinearSystemId {
  static LinearSystem<2, 2, 2> IdentifyDrivetrainSystem(
      decltype(1_V / 1_mps) kVlinear, decltype(1_V / 1_mps_sq) kAlinear,
      decltype(1_V / 1_mps) kVangular, decltype(1_V / 1_mps_sq) kAangular) {
-    double A1 = -(kVlinear.to<double>() / kAlinear.to<double>() +
-                  kVangular.to<double>() / kAangular.to<double>());
-    double A2 = -(kVlinear.to<double>() / kAlinear.to<double>() -
-                  kVangular.to<double>() / kAangular.to<double>());
-    double B1 = 1.0 / kAlinear.to<double>() + 1.0 / kAangular.to<double>();
-    double B2 = 1.0 / kAlinear.to<double>() - 1.0 / kAangular.to<double>();
+    double A1 = -(kVlinear.value() / kAlinear.value() +
+                  kVangular.value() / kAangular.value());
+    double A2 = -(kVlinear.value() / kAlinear.value() -
+                  kVangular.value() / kAangular.value());
+    double B1 = 1.0 / kAlinear.value() + 1.0 / kAangular.value();
+    double B2 = 1.0 / kAlinear.value() - 1.0 / kAangular.value();

    Eigen::Matrix<double, 2, 2> A =
        0.5 * Eigen::Matrix<double, 2, 2>{{A1, A2}, {A2, A1}};
@@ -239,8 +234,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
                                              units::kilogram_square_meter_t J,
                                              double G) {
    Eigen::Matrix<double, 1, 1> A{
-        (-std::pow(G, 2) * motor.Kt / (motor.Kv * motor.R * J)).to<double>()};
-    Eigen::Matrix<double, 1, 1> B{(G * motor.Kt / (motor.R * J)).to<double>()};
+        (-std::pow(G, 2) * motor.Kt / (motor.Kv * motor.R * J)).value()};
+    Eigen::Matrix<double, 1, 1> B{(G * motor.Kt / (motor.R * J)).value()};
    Eigen::Matrix<double, 1, 1> C{1.0};
    Eigen::Matrix<double, 1, 1> D{0.0};

@@ -269,15 +264,15 @@ class WPILIB_DLLEXPORT LinearSystemId {
    auto C2 = G * motor.Kt / (motor.R * r);

    Eigen::Matrix<double, 2, 2> A{
-        {((1 / m + units::math::pow<2>(rb) / J) * C1).to<double>(),
-         ((1 / m - units::math::pow<2>(rb) / J) * C1).to<double>()},
-        {((1 / m - units::math::pow<2>(rb) / J) * C1).to<double>(),
-         ((1 / m + units::math::pow<2>(rb) / J) * C1).to<double>()}};
+        {((1 / m + units::math::pow<2>(rb) / J) * C1).value(),
+         ((1 / m - units::math::pow<2>(rb) / J) * C1).value()},
+        {((1 / m - units::math::pow<2>(rb) / J) * C1).value(),
+         ((1 / m + units::math::pow<2>(rb) / J) * C1).value()}};
    Eigen::Matrix<double, 2, 2> B{
-        {((1 / m + units::math::pow<2>(rb) / J) * C2).to<double>(),
-         ((1 / m - units::math::pow<2>(rb) / J) * C2).to<double>()},
-        {((1 / m - units::math::pow<2>(rb) / J) * C2).to<double>(),
-         ((1 / m + units::math::pow<2>(rb) / J) * C2).to<double>()}};
+        {((1 / m + units::math::pow<2>(rb) / J) * C2).value(),
+         ((1 / m - units::math::pow<2>(rb) / J) * C2).value()},
+        {((1 / m - units::math::pow<2>(rb) / J) * C2).value(),
+         ((1 / m + units::math::pow<2>(rb) / J) * C2).value()}};
    Eigen::Matrix<double, 2, 2> C{{1.0, 0.0}, {0.0, 1.0}};
    Eigen::Matrix<double, 2, 2> D{{0.0, 0.0}, {0.0, 0.0}};