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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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8
wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
View File

@@ -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
}

17
wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
View File

@@ -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 =