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Move curvature_t to units namespace (#2444)

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Note: this is a breaking change.
This commit is contained in:
Prateek Machiraju
2020-03-23 01:57:52 -04:00
committed by GitHub
parent 303194b08b
commit 1c28b729ad
18 changed files with 52 additions and 58 deletions
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6
wpilibc/src/main/native/cpp/trajectory/constraint/CentripetalAccelerationConstraint.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,7 +14,7 @@ CentripetalAccelerationConstraint::CentripetalAccelerationConstraint(
: m_maxCentripetalAcceleration(maxCentripetalAcceleration) {}
units::meters_per_second_t CentripetalAccelerationConstraint::MaxVelocity(
const Pose2d& pose, curvature_t curvature,
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t velocity) {
// ac = v^2 / r
// k (curvature) = 1 / r
@@ -32,7 +32,7 @@ units::meters_per_second_t CentripetalAccelerationConstraint::MaxVelocity(
TrajectoryConstraint::MinMax
CentripetalAccelerationConstraint::MinMaxAcceleration(
const Pose2d& pose, curvature_t curvature,
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t speed) {
// The acceleration of the robot has no impact on the centripetal acceleration
// of the robot.