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SCRIPT namespace replacements

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This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
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64
wpilibc/src/main/native/include/wpi/simulation/ElevatorSim.hpp
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@@ -12,27 +12,27 @@
#include "wpi/units/mass.hpp"
#include "wpi/units/velocity.hpp"
namespace frc::sim {
namespace wpi::sim {
/**
* Represents a simulated elevator mechanism.
*/
class ElevatorSim : public LinearSystemSim<2, 1, 2> {
public:
template <typename Distance>
using Velocity_t = units::unit_t<
units::compound_unit<Distance, units::inverse<units::seconds>>>;
using Velocity_t = wpi::units::unit_t<
wpi::units::compound_unit<Distance, wpi::units::inverse<wpi::units::seconds>>>;
template <typename Distance>
using Acceleration_t = units::unit_t<units::compound_unit<
units::compound_unit<Distance, units::inverse<units::seconds>>,
units::inverse<units::seconds>>>;
using Acceleration_t = wpi::units::unit_t<wpi::units::compound_unit<
wpi::units::compound_unit<Distance, wpi::units::inverse<wpi::units::seconds>>,
wpi::units::inverse<wpi::units::seconds>>>;
/**
* Constructs a simulated elevator mechanism.
*
* @param plant The linear system that represents the elevator.
* This system can be created with
* LinearSystemId::ElevatorSystem().
* wpi::math::LinearSystemId::ElevatorSystem().
* @param gearbox The type of and number of motors in your
* elevator gearbox.
* @param minHeight The minimum allowed height of the elevator.
@@ -41,9 +41,9 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
* @param startingHeight The starting height of the elevator.
* @param measurementStdDevs The standard deviation of the measurements.
*/
ElevatorSim(const LinearSystem<2, 1, 2>& plant, const DCMotor& gearbox,
units::meter_t minHeight, units::meter_t maxHeight,
bool simulateGravity, units::meter_t startingHeight,
ElevatorSim(const wpi::math::LinearSystem<2, 1, 2>& plant, const wpi::math::DCMotor& gearbox,
wpi::units::meter_t minHeight, wpi::units::meter_t maxHeight,
bool simulateGravity, wpi::units::meter_t startingHeight,
const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
/**
@@ -62,10 +62,10 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
* @param startingHeight The starting height of the elevator.
* @param measurementStdDevs The standard deviation of the measurements.
*/
ElevatorSim(const DCMotor& gearbox, double gearing,
units::kilogram_t carriageMass, units::meter_t drumRadius,
units::meter_t minHeight, units::meter_t maxHeight,
bool simulateGravity, units::meter_t startingHeight,
ElevatorSim(const wpi::math::DCMotor& gearbox, double gearing,
wpi::units::kilogram_t carriageMass, wpi::units::meter_t drumRadius,
wpi::units::meter_t minHeight, wpi::units::meter_t maxHeight,
bool simulateGravity, wpi::units::meter_t startingHeight,
const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
/**
@@ -82,13 +82,13 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
* @param measurementStdDevs The standard deviation of the measurements.
*/
template <typename Distance>
requires std::same_as<units::meter, Distance> ||
std::same_as<units::radian, Distance>
requires std::same_as<wpi::units::meter, Distance> ||
std::same_as<wpi::units::radian, Distance>
ElevatorSim(decltype(1_V / Velocity_t<Distance>(1)) kV,
decltype(1_V / Acceleration_t<Distance>(1)) kA,
const DCMotor& gearbox, units::meter_t minHeight,
units::meter_t maxHeight, bool simulateGravity,
units::meter_t startingHeight,
const wpi::math::DCMotor& gearbox, wpi::units::meter_t minHeight,
wpi::units::meter_t maxHeight, bool simulateGravity,
wpi::units::meter_t startingHeight,
const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
using LinearSystemSim::SetState;
@@ -98,7 +98,7 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
* @param position The new position
* @param velocity The new velocity
*/
void SetState(units::meter_t position, units::meters_per_second_t velocity);
void SetState(wpi::units::meter_t position, wpi::units::meters_per_second_t velocity);
/**
* Returns whether the elevator would hit the lower limit.
@@ -106,7 +106,7 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
* @param elevatorHeight The elevator height.
* @return Whether the elevator would hit the lower limit.
*/
bool WouldHitLowerLimit(units::meter_t elevatorHeight) const;
bool WouldHitLowerLimit(wpi::units::meter_t elevatorHeight) const;
/**
* Returns whether the elevator would hit the upper limit.
@@ -114,7 +114,7 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
* @param elevatorHeight The elevator height.
* @return Whether the elevator would hit the upper limit.
*/
bool WouldHitUpperLimit(units::meter_t elevatorHeight) const;
bool WouldHitUpperLimit(wpi::units::meter_t elevatorHeight) const;
/**
* Returns whether the elevator has hit the lower limit.
@@ -135,28 +135,28 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
*
* @return The position of the elevator.
*/
units::meter_t GetPosition() const;
wpi::units::meter_t GetPosition() const;
/**
* Returns the velocity of the elevator.
*
* @return The velocity of the elevator.
*/
units::meters_per_second_t GetVelocity() const;
wpi::units::meters_per_second_t GetVelocity() const;
/**
* Returns the elevator current draw.
*
* @return The elevator current draw.
*/
units::ampere_t GetCurrentDraw() const;
wpi::units::ampere_t GetCurrentDraw() const;
/**
* Sets the input voltage for the elevator.
*
* @param voltage The input voltage.
*/
void SetInputVoltage(units::volt_t voltage);
void SetInputVoltage(wpi::units::volt_t voltage);
protected:
/**
@@ -166,13 +166,13 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
* @param u The system inputs (voltage).
* @param dt The time difference between controller updates.
*/
Vectord<2> UpdateX(const Vectord<2>& currentXhat, const Vectord<1>& u,
units::second_t dt) override;
wpi::math::Vectord<2> UpdateX(const wpi::math::Vectord<2>& currentXhat, const wpi::math::Vectord<1>& u,
wpi::units::second_t dt) override;
private:
DCMotor m_gearbox;
units::meter_t m_minHeight;
units::meter_t m_maxHeight;
wpi::math::DCMotor m_gearbox;
wpi::units::meter_t m_minHeight;
wpi::units::meter_t m_maxHeight;
bool m_simulateGravity;
};
} // namespace frc::sim
} // namespace wpi::sim