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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/estimator/AngleStatistics.h
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@@ -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;
}

7
wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
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@@ -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);