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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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13
wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
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@@ -7,6 +7,7 @@
#include <stdexcept>
#include <wpi/SymbolExports.h>
#include <wpi/concepts.h>
#include "frc/system/LinearSystem.h"
#include "frc/system/plant/DCMotor.h"
@@ -76,9 +77,9 @@ class WPILIB_DLLEXPORT LinearSystemId {
* @param kA The acceleration gain, in volts/(unit/sec²).
* @throws std::domain_error if kV <= 0 or kA <= 0.
*/
template <typename Distance, typename = std::enable_if_t<
std::is_same_v<units::meter, Distance> ||
std::is_same_v<units::radian, Distance>>>
template <typename Distance>
requires std::same_as<units::meter, Distance> ||
std::same_as<units::radian, Distance>
static LinearSystem<1, 1, 1> IdentifyVelocitySystem(
decltype(1_V / Velocity_t<Distance>(1)) kV,
decltype(1_V / Acceleration_t<Distance>(1)) kA) {
@@ -117,9 +118,9 @@ class WPILIB_DLLEXPORT LinearSystemId {
*
* @throws std::domain_error if kV <= 0 or kA <= 0.
*/
template <typename Distance, typename = std::enable_if_t<
std::is_same_v<units::meter, Distance> ||
std::is_same_v<units::radian, Distance>>>
template <typename Distance>
requires std::same_as<units::meter, Distance> ||
std::same_as<units::radian, Distance>
static LinearSystem<2, 1, 1> IdentifyPositionSystem(
decltype(1_V / Velocity_t<Distance>(1)) kV,
decltype(1_V / Acceleration_t<Distance>(1)) kA) {