[wpimath] Add and use kinematics.copyInto() (#6789)

2026-06-23 01:21:42 +00:00 · 2024-07-15 17:19:31 -07:00
parent 636450ab7b
commit 7b7d17ccd7
6 changed files with 40 additions and 4 deletions
--- a/wpimath/src/main/native/include/frc/kinematics/Kinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/Kinematics.h
@@ -20,7 +20,8 @@ namespace frc {
 * forward kinematics converts wheel speeds into chassis speed.
 */
 template <typename WheelSpeeds, typename WheelPositions>
-  requires std::copy_constructible<WheelPositions>
+  requires std::copy_constructible<WheelPositions> &&
+           std::assignable_from<WheelPositions&, const WheelPositions&>
 class WPILIB_DLLEXPORT Kinematics {
 public:
  /**