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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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2
wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
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@@ -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()));

14
wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
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@@ -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}); });
}

6
wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
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@@ -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)};
}