Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Make LinearPlantInversionFeedforward's A and B matrices final (#2688)

Browse Source
This commit is contained in:
Matt
2020-09-03 19:07:36 -07:00
committed by GitHub
parent bc28fb187c
commit 502f5c8b5f
1 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
wpimath/src/main/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforward.java
View File

@@ -39,10 +39,10 @@ public class LinearPlantInversionFeedforward<States extends Num, Inputs extends
private Matrix<Inputs, N1> m_uff;
@SuppressWarnings("MemberName")
private Matrix<States, Inputs> m_B;
private final Matrix<States, Inputs> m_B;
@SuppressWarnings("MemberName")
private Matrix<States, States> m_A;
private final Matrix<States, States> m_A;
/**
* Constructs a feedforward with the given plant.
@@ -71,8 +71,8 @@ public class LinearPlantInversionFeedforward<States extends Num, Inputs extends
this.m_A = discABPair.getFirst();
this.m_B = discABPair.getSecond();
m_r = new Matrix<States, N1>(new SimpleMatrix(B.getNumRows(), 1));
m_uff = new Matrix<Inputs, N1>(new SimpleMatrix(B.getNumCols(), 1));
m_r = new Matrix<>(new SimpleMatrix(B.getNumRows(), 1));
m_uff = new Matrix<>(new SimpleMatrix(B.getNumCols(), 1));
reset(m_r);
}