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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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15
wpimath/src/main/native/include/frc/system/Discretization.h
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@@ -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