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[wpilib] Rename LinearSystemSim's ResetState() to SetState() (#2750)

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This makes it more consistent with all other simulation classes,
including the differential drive simulation class.
This commit is contained in:
Tyler Veness
2020-09-27 15:26:50 -07:00
committed by GitHub
parent c3b3fb8b74
commit 693daafe29
4 changed files with 11 additions and 8 deletions
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8
wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
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@@ -99,13 +99,11 @@ class LinearSystemSim {
void SetInput(const Eigen::Matrix<double, Inputs, 1>& u) { m_u = u; }
/**
* Resets the system state.
* Sets the system state.
*
* @param state The state to reset to.
* @param state The state.
*/
void ResetState(const Eigen::Matrix<double, States, 1>& state) {
m_x = state;
}
void SetState(const Eigen::Matrix<double, States, 1>& state) { m_x = state; }
protected:
/**

2
wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
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@@ -14,7 +14,7 @@ TEST(SingleJointedArmTest, Disabled) {
frc::sim::SingleJointedArmSim sim(frc::DCMotor::Vex775Pro(2), 100, 10_kg,
9.5_in, -180_deg, 0_deg, false, {0.0},
true);
sim.ResetState(frc::MakeMatrix<2, 1>(0.0, 0.0));
sim.SetState(frc::MakeMatrix<2, 1>(0.0, 0.0));
for (size_t i = 0; i < 12 / 0.02; ++i) {
sim.SetInput(frc::MakeMatrix<1, 1>(0.0));

7
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
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@@ -121,7 +121,12 @@ public class LinearSystemSim<States extends Num, Inputs extends Num,
return m_y.get(row, 0);
}
public void resetState(Matrix<States, N1> state) {
/**
* Sets the system state.
*
* @param state The state.
*/
public void setState(Matrix<States, N1> state) {
m_x = state;
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ArmSimTest.java
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@@ -25,7 +25,7 @@ public class ArmSimTest {
@Test
public void testArmDisabled() {
m_sim.resetState(VecBuilder.fill(0.0, 0.0));
m_sim.setState(VecBuilder.fill(0.0, 0.0));
for (int i = 0; i < 12 / 0.02; i++) {
m_sim.setInput(0.0);