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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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55
wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
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@@ -47,9 +47,9 @@ class WPILIB_DLLEXPORT LinearSystemId {
{0.0, 1.0},
{0.0, (-std::pow(G, 2) * motor.Kt /
(motor.R * units::math::pow<2>(r) * m * motor.Kv))
.to<double>()}};
Eigen::Matrix<double, 2, 1> B{
0.0, (G * motor.Kt / (motor.R * r * m)).to<double>()};
.value()}};
Eigen::Matrix<double, 2, 1> B{0.0,
(G * motor.Kt / (motor.R * r * m)).value()};
Eigen::Matrix<double, 1, 2> C{1.0, 0.0};
Eigen::Matrix<double, 1, 1> D{0.0};
@@ -71,10 +71,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
DCMotor motor, units::kilogram_square_meter_t J, double G) {
Eigen::Matrix<double, 2, 2> A{
{0.0, 1.0},
{0.0,
(-std::pow(G, 2) * motor.Kt / (motor.Kv * motor.R * J)).to<double>()}};
Eigen::Matrix<double, 2, 1> B{0.0,
(G * motor.Kt / (motor.R * J)).to<double>()};
{0.0, (-std::pow(G, 2) * motor.Kt / (motor.Kv * motor.R * J)).value()}};
Eigen::Matrix<double, 2, 1> B{0.0, (G * motor.Kt / (motor.R * J)).value()};
Eigen::Matrix<double, 1, 2> C{1.0, 0.0};
Eigen::Matrix<double, 1, 1> D{0.0};
@@ -107,9 +105,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
static LinearSystem<1, 1, 1> IdentifyVelocitySystem(
decltype(1_V / Velocity_t<Distance>(1)) kV,
decltype(1_V / Acceleration_t<Distance>(1)) kA) {
Eigen::Matrix<double, 1, 1> A{-kV.template to<double>() /
kA.template to<double>()};
Eigen::Matrix<double, 1, 1> B{1.0 / kA.template to<double>()};
Eigen::Matrix<double, 1, 1> A{-kV.value() / kA.value()};
Eigen::Matrix<double, 1, 1> B{1.0 / kA.value()};
Eigen::Matrix<double, 1, 1> C{1.0};
Eigen::Matrix<double, 1, 1> D{0.0};
@@ -142,10 +139,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
static LinearSystem<2, 1, 1> IdentifyPositionSystem(
decltype(1_V / Velocity_t<Distance>(1)) kV,
decltype(1_V / Acceleration_t<Distance>(1)) kA) {
Eigen::Matrix<double, 2, 2> A{
{0.0, 1.0},
{0.0, -kV.template to<double>() / kA.template to<double>()}};
Eigen::Matrix<double, 2, 1> B{0.0, 1.0 / kA.template to<double>()};
Eigen::Matrix<double, 2, 2> A{{0.0, 1.0}, {0.0, -kV.value() / kA.value()}};
Eigen::Matrix<double, 2, 1> B{0.0, 1.0 / kA.value()};
Eigen::Matrix<double, 1, 2> C{1.0, 0.0};
Eigen::Matrix<double, 1, 1> D{0.0};
@@ -170,12 +165,12 @@ class WPILIB_DLLEXPORT LinearSystemId {
static LinearSystem<2, 2, 2> IdentifyDrivetrainSystem(
decltype(1_V / 1_mps) kVlinear, decltype(1_V / 1_mps_sq) kAlinear,
decltype(1_V / 1_mps) kVangular, decltype(1_V / 1_mps_sq) kAangular) {
double A1 = -(kVlinear.to<double>() / kAlinear.to<double>() +
kVangular.to<double>() / kAangular.to<double>());
double A2 = -(kVlinear.to<double>() / kAlinear.to<double>() -
kVangular.to<double>() / kAangular.to<double>());
double B1 = 1.0 / kAlinear.to<double>() + 1.0 / kAangular.to<double>();
double B2 = 1.0 / kAlinear.to<double>() - 1.0 / kAangular.to<double>();
double A1 = -(kVlinear.value() / kAlinear.value() +
kVangular.value() / kAangular.value());
double A2 = -(kVlinear.value() / kAlinear.value() -
kVangular.value() / kAangular.value());
double B1 = 1.0 / kAlinear.value() + 1.0 / kAangular.value();
double B2 = 1.0 / kAlinear.value() - 1.0 / kAangular.value();
Eigen::Matrix<double, 2, 2> A =
0.5 * Eigen::Matrix<double, 2, 2>{{A1, A2}, {A2, A1}};
@@ -239,8 +234,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
units::kilogram_square_meter_t J,
double G) {
Eigen::Matrix<double, 1, 1> A{
(-std::pow(G, 2) * motor.Kt / (motor.Kv * motor.R * J)).to<double>()};
Eigen::Matrix<double, 1, 1> B{(G * motor.Kt / (motor.R * J)).to<double>()};
(-std::pow(G, 2) * motor.Kt / (motor.Kv * motor.R * J)).value()};
Eigen::Matrix<double, 1, 1> B{(G * motor.Kt / (motor.R * J)).value()};
Eigen::Matrix<double, 1, 1> C{1.0};
Eigen::Matrix<double, 1, 1> D{0.0};
@@ -269,15 +264,15 @@ class WPILIB_DLLEXPORT LinearSystemId {
auto C2 = G * motor.Kt / (motor.R * r);
Eigen::Matrix<double, 2, 2> A{
{((1 / m + units::math::pow<2>(rb) / J) * C1).to<double>(),
((1 / m - units::math::pow<2>(rb) / J) * C1).to<double>()},
{((1 / m - units::math::pow<2>(rb) / J) * C1).to<double>(),
((1 / m + units::math::pow<2>(rb) / J) * C1).to<double>()}};
{((1 / m + units::math::pow<2>(rb) / J) * C1).value(),
((1 / m - units::math::pow<2>(rb) / J) * C1).value()},
{((1 / m - units::math::pow<2>(rb) / J) * C1).value(),
((1 / m + units::math::pow<2>(rb) / J) * C1).value()}};
Eigen::Matrix<double, 2, 2> B{
{((1 / m + units::math::pow<2>(rb) / J) * C2).to<double>(),
((1 / m - units::math::pow<2>(rb) / J) * C2).to<double>()},
{((1 / m - units::math::pow<2>(rb) / J) * C2).to<double>(),
((1 / m + units::math::pow<2>(rb) / J) * C2).to<double>()}};
{((1 / m + units::math::pow<2>(rb) / J) * C2).value(),
((1 / m - units::math::pow<2>(rb) / J) * C2).value()},
{((1 / m - units::math::pow<2>(rb) / J) * C2).value(),
((1 / m + units::math::pow<2>(rb) / J) * C2).value()}};
Eigen::Matrix<double, 2, 2> C{{1.0, 0.0}, {0.0, 1.0}};
Eigen::Matrix<double, 2, 2> D{{0.0, 0.0}, {0.0, 0.0}};