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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/test/native/cpp/system/DiscretizationTest.cpp
View File

@@ -66,8 +66,8 @@ TEST(DiscretizationTest, DiscretizeSlowModelAQ) {
Eigen::Matrix<double, 2, 2>>(
[&](units::second_t t, const Eigen::Matrix<double, 2, 2>&) {
return Eigen::Matrix<double, 2, 2>(
(contA * t.to<double>()).exp() * contQ *
(contA.transpose() * t.to<double>()).exp());
(contA * t.value()).exp() * contQ *
(contA.transpose() * t.value()).exp());
},
0_s, Eigen::Matrix<double, 2, 2>::Zero(), dt);
@@ -96,8 +96,8 @@ TEST(DiscretizationTest, DiscretizeFastModelAQ) {
Eigen::Matrix<double, 2, 2>>(
[&](units::second_t t, const Eigen::Matrix<double, 2, 2>&) {
return Eigen::Matrix<double, 2, 2>(
(contA * t.to<double>()).exp() * contQ *
(contA.transpose() * t.to<double>()).exp());
(contA * t.value()).exp() * contQ *
(contA.transpose() * t.value()).exp());
},
0_s, Eigen::Matrix<double, 2, 2>::Zero(), dt);
@@ -134,8 +134,8 @@ TEST(DiscretizationTest, DiscretizeSlowModelAQTaylor) {
Eigen::Matrix<double, 2, 2>>(
[&](units::second_t t, const Eigen::Matrix<double, 2, 2>&) {
return Eigen::Matrix<double, 2, 2>(
(contA * t.to<double>()).exp() * contQ *
(contA.transpose() * t.to<double>()).exp());
(contA * t.value()).exp() * contQ *
(contA.transpose() * t.value()).exp());
},
0_s, Eigen::Matrix<double, 2, 2>::Zero(), dt);
@@ -178,8 +178,8 @@ TEST(DiscretizationTest, DiscretizeFastModelAQTaylor) {
Eigen::Matrix<double, 2, 2>>(
[&](units::second_t t, const Eigen::Matrix<double, 2, 2>&) {
return Eigen::Matrix<double, 2, 2>(
(contA * t.to<double>()).exp() * contQ *
(contA.transpose() * t.to<double>()).exp());
(contA * t.value()).exp() * contQ *
(contA.transpose() * t.value()).exp());
},
0_s, Eigen::Matrix<double, 2, 2>::Zero(), dt);

2
wpimath/src/test/native/cpp/system/RungeKuttaTimeVaryingTest.cpp
View File

@@ -28,7 +28,7 @@ TEST(RungeKuttaTimeVaryingTest, RungeKuttaTimeVarying) {
Eigen::Vector<double, 1> y1 = frc::RungeKuttaTimeVarying(
[](units::second_t t, const Eigen::Vector<double, 1>& x) {
return Eigen::Vector<double, 1>{
x(0) * (2.0 / (std::exp(t.to<double>()) + 1.0) - 1.0)};
x(0) * (2.0 / (std::exp(t.value()) + 1.0) - 1.0)};
},
5_s, y0, 1_s);
EXPECT_NEAR(y1(0), RungeKuttaTimeVaryingSolution(6.0)(0), 1e-3);