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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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16
wpimath/src/main/native/include/frc/system/NumericalIntegration.h
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@@ -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);