[upstream_utils] Upgrade Sleipnir and use wpi::SmallVector (#6748)

2026-06-21 01:01:43 +00:00 · 2024-06-21 11:14:19 -07:00
parent e2893fc1a3
commit 25865759f4
29 changed files with 780 additions and 596 deletions
--- a/wpimath/src/main/native/cpp/controller/ArmFeedforward.cpp
+++ b/wpimath/src/main/native/cpp/controller/ArmFeedforward.cpp
@@ -74,14 +74,12 @@ units::volt_t ArmFeedforward::Calculate(units::unit_t<Angle> currentAngle,
        double trial_x = x + α * p_x;

        xAD.SetValue(trial_x);
-        cost.Update();

        while (cost.Value() > oldCost) {
          α *= 0.5;
          trial_x = x + α * p_x;

          xAD.SetValue(trial_x);
-          cost.Update();
        }

        x = trial_x;