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[wpilib] Add noise to Differential Drive simulator (#2903)

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Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
This commit is contained in:
Matt
2020-12-04 18:46:50 -08:00
committed by GitHub
parent 387f56cb7b
commit 963ad5c255
10 changed files with 253 additions and 93 deletions
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wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
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@@ -39,8 +39,7 @@ class LinearSystemSim {
* @param measurementStdDevs The standard deviations of the measurements.
*/
LinearSystemSim(const LinearSystem<States, Inputs, Outputs>& system,
const std::array<double, Outputs>& measurementStdDevs =
std::array<double, Outputs>{})
const std::array<double, Outputs>& measurementStdDevs = {})
: m_plant(system), m_measurementStdDevs(measurementStdDevs) {
m_x = Eigen::Matrix<double, States, 1>::Zero();
m_y = Eigen::Matrix<double, Outputs, 1>::Zero();