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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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15
wpimath/src/main/native/include/wpi/math/system/LinearSystemLoop.hpp
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@@ -61,7 +61,8 @@ class LinearSystemLoop {
: LinearSystemLoop(
plant, controller, observer,
[=](const InputVector& u) {
return wpi::math::DesaturateInputVector<Inputs>(u, maxVoltage.value());
return wpi::math::DesaturateInputVector<Inputs>(
u, maxVoltage.value());
},
dt) {}
@@ -101,11 +102,13 @@ class LinearSystemLoop {
LinearSystemLoop(
LinearQuadraticRegulator<States, Inputs>& controller,
const LinearPlantInversionFeedforward<States, Inputs>& feedforward,
KalmanFilter<States, Inputs, Outputs>& observer, wpi::units::volt_t maxVoltage)
: LinearSystemLoop(
controller, feedforward, observer, [=](const InputVector& u) {
return wpi::math::DesaturateInputVector<Inputs>(u, maxVoltage.value());
}) {}
KalmanFilter<States, Inputs, Outputs>& observer,
wpi::units::volt_t maxVoltage)
: LinearSystemLoop(controller, feedforward, observer,
[=](const InputVector& u) {
return wpi::math::DesaturateInputVector<Inputs>(
u, maxVoltage.value());
}) {}
/**
* Constructs a state-space loop with the given controller, feedforward,