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Refactor TrajectoryGenerator (#1972)

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This commit is contained in:
Prateek Machiraju
2019-10-26 12:39:47 -04:00
committed by Peter Johnson
parent 73a30182c3
commit 9440edf2b5
23 changed files with 825 additions and 629 deletions
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2
wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
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@@ -34,7 +34,7 @@ TEST(RamseteControllerTest, ReachesReference) {
auto waypoints = std::vector{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
frc::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
waypoints, {}, 0_mps, 0_mps, 8.8_mps, 0.1_mps_sq, false);
waypoints, {8.8_mps, 0.1_mps_sq});
constexpr auto kDt = 0.02_s;
auto totalTime = trajectory.TotalTime();