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[wpimath] Clean up math comments (#4252)

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This commit is contained in:
Tyler Veness
2022-05-20 15:16:56 -07:00
committed by GitHub
parent fff4d1f44e
commit 5aa67f56e6
25 changed files with 141 additions and 132 deletions
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2
wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
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@@ -129,7 +129,7 @@ void DifferentialDrivetrainSim::SetPose(const frc::Pose2d& pose) {
Vectord<7> DifferentialDrivetrainSim::Dynamics(const Vectord<7>& x,
const Vectord<2>& u) {
// Because G^2 can be factored out of A, we can divide by the old ratio
// Because G² can be factored out of A, we can divide by the old ratio
// squared and multiply by the new ratio squared to get a new drivetrain
// model.
Matrixd<4, 2> B;

2
wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
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@@ -255,7 +255,7 @@ class DifferentialDrivetrainSim {
static DifferentialDrivetrainSim CreateKitbotSim(
frc::DCMotor motor, double gearing, units::meter_t wheelSize,
const std::array<double, 7>& measurementStdDevs = {}) {
// MOI estimation -- note that I = m r^2 for point masses
// MOI estimation -- note that I = mr² for point masses
units::kilogram_square_meter_t batteryMoi = 12.5_lb * 10_in * 10_in;
units::kilogram_square_meter_t gearboxMoi = (2.8_lb + 2.0_lb) *
2 // CIM plus toughbox per side