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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/DifferentialDriveKinematicsConstraint.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 @@ DifferentialDriveKinematicsConstraint::DifferentialDriveKinematicsConstraint(
: m_kinematics(kinematics), m_maxSpeed(maxSpeed) {}
units::meters_per_second_t DifferentialDriveKinematicsConstraint::MaxVelocity(
const Pose2d& pose, curvature_t curvature,
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t velocity) {
auto wheelSpeeds =
m_kinematics.ToWheelSpeeds({velocity, 0_mps, velocity * curvature});
@@ -25,7 +25,7 @@ units::meters_per_second_t DifferentialDriveKinematicsConstraint::MaxVelocity(
TrajectoryConstraint::MinMax
DifferentialDriveKinematicsConstraint::MinMaxAcceleration(
const Pose2d& pose, curvature_t curvature,
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t speed) {
return {};
}