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Replace SFINAE with concepts (#5361)

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Concepts are cleaner to use and result in much better error messages for incorrect template use.
This commit is contained in:
Tyler Veness
2023-06-07 09:50:09 -07:00
committed by GitHub
parent d57d1a4598
commit 91cbcea841
42 changed files with 397 additions and 361 deletions
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11
wpimath/src/main/native/include/frc/StateSpaceUtil.h
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@@ -8,9 +8,9 @@
#include <cmath>
#include <limits>
#include <random>
#include <type_traits>
#include <wpi/SymbolExports.h>
#include <wpi/concepts.h>
#include <wpi/deprecated.h>
#include "Eigen/Eigenvalues"
@@ -96,8 +96,7 @@ bool IsStabilizableImpl(const Matrixd<States, States>& A,
* of the control inputs from no actuation.
* @return State excursion or control effort cost matrix.
*/
template <typename... Ts, typename = std::enable_if_t<
std::conjunction_v<std::is_same<double, Ts>...>>>
template <std::same_as<double>... Ts>
Matrixd<sizeof...(Ts), sizeof...(Ts)> MakeCostMatrix(Ts... tolerances) {
Eigen::DiagonalMatrix<double, sizeof...(Ts)> result;
detail::CostMatrixImpl(result.diagonal(), tolerances...);
@@ -116,8 +115,7 @@ Matrixd<sizeof...(Ts), sizeof...(Ts)> MakeCostMatrix(Ts... tolerances) {
* output measurement.
* @return Process noise or measurement noise covariance matrix.
*/
template <typename... Ts, typename = std::enable_if_t<
std::conjunction_v<std::is_same<double, Ts>...>>>
template <std::same_as<double>... Ts>
Matrixd<sizeof...(Ts), sizeof...(Ts)> MakeCovMatrix(Ts... stdDevs) {
Eigen::DiagonalMatrix<double, sizeof...(Ts)> result;
detail::CovMatrixImpl(result.diagonal(), stdDevs...);
@@ -173,8 +171,7 @@ Matrixd<N, N> MakeCovMatrix(const std::array<double, N>& stdDevs) {
return result;
}
template <typename... Ts, typename = std::enable_if_t<
std::conjunction_v<std::is_same<double, Ts>...>>>
template <std::same_as<double>... Ts>
Matrixd<sizeof...(Ts), 1> MakeWhiteNoiseVector(Ts... stdDevs) {
Matrixd<sizeof...(Ts), 1> result;
detail::WhiteNoiseVectorImpl(result, stdDevs...);