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[sim] Use plant output to retrieve simulated position (#3043)

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Using the plant output means that measurement noise can be incorporated.
SingleJointedArmSim (in C++ and Java) and ElevatorSim (in C++) used the
state instead of the measurement.

Closes #3042
This commit is contained in:
Prateek Machiraju
2021-01-05 20:55:44 -05:00
committed by GitHub
parent 78147aa342
commit 1e9c79c587
3 changed files with 3 additions and 3 deletions
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2
wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
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@@ -48,7 +48,7 @@ bool ElevatorSim::HasHitUpperLimit(const Eigen::Matrix<double, 2, 1>& x) const {
}
units::meter_t ElevatorSim::GetPosition() const {
return units::meter_t{m_x(0)};
return units::meter_t{m_y(0)};
}
units::meters_per_second_t ElevatorSim::GetVelocity() const {