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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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56
wpilibc/src/main/native/include/wpi/simulation/SingleJointedArmSim.hpp
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@@ -13,7 +13,7 @@
#include "wpi/units/mass.hpp"
#include "wpi/units/moment_of_inertia.hpp"
namespace frc::sim {
namespace wpi::sim {
/**
* Represents a simulated arm mechanism.
*/
@@ -24,7 +24,7 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
*
* @param system The system representing this arm. This system can
* be created with
* LinearSystemId::SingleJointedArmSystem().
* wpi::math::LinearSystemId::SingleJointedArmSystem().
* @param gearbox The type and number of motors on the arm gearbox.
* @param gearing The gear ratio of the arm (numbers greater than 1
* represent reductions).
@@ -35,11 +35,11 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
* @param startingAngle The initial position of the arm.
* @param measurementStdDevs The standard deviations of the measurements.
*/
SingleJointedArmSim(const LinearSystem<2, 1, 2>& system,
const DCMotor& gearbox, double gearing,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, bool simulateGravity,
units::radian_t startingAngle,
SingleJointedArmSim(const wpi::math::LinearSystem<2, 1, 2>& system,
const wpi::math::DCMotor& gearbox, double gearing,
wpi::units::meter_t armLength, wpi::units::radian_t minAngle,
wpi::units::radian_t maxAngle, bool simulateGravity,
wpi::units::radian_t startingAngle,
const std::array<double, 2>& measurementStdDevs = {0.0,
0.0});
/**
@@ -57,11 +57,11 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
* @param startingAngle The initial position of the arm.
* @param measurementStdDevs The standard deviation of the measurement noise.
*/
SingleJointedArmSim(const DCMotor& gearbox, double gearing,
units::kilogram_square_meter_t moi,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, bool simulateGravity,
units::radian_t startingAngle,
SingleJointedArmSim(const wpi::math::DCMotor& gearbox, double gearing,
wpi::units::kilogram_square_meter_t moi,
wpi::units::meter_t armLength, wpi::units::radian_t minAngle,
wpi::units::radian_t maxAngle, bool simulateGravity,
wpi::units::radian_t startingAngle,
const std::array<double, 2>& measurementStdDevs = {0.0,
0.0});
@@ -74,7 +74,7 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
* @param angle The new angle.
* @param velocity The new angular velocity.
*/
void SetState(units::radian_t angle, units::radians_per_second_t velocity);
void SetState(wpi::units::radian_t angle, wpi::units::radians_per_second_t velocity);
/**
* Returns whether the arm would hit the lower limit.
@@ -82,7 +82,7 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
* @param armAngle The arm height.
* @return Whether the arm would hit the lower limit.
*/
bool WouldHitLowerLimit(units::radian_t armAngle) const;
bool WouldHitLowerLimit(wpi::units::radian_t armAngle) const;
/**
* Returns whether the arm would hit the upper limit.
@@ -90,7 +90,7 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
* @param armAngle The arm height.
* @return Whether the arm would hit the upper limit.
*/
bool WouldHitUpperLimit(units::radian_t armAngle) const;
bool WouldHitUpperLimit(wpi::units::radian_t armAngle) const;
/**
* Returns whether the arm has hit the lower limit.
@@ -111,28 +111,28 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
*
* @return The current arm angle.
*/
units::radian_t GetAngle() const;
wpi::units::radian_t GetAngle() const;
/**
* Returns the current arm velocity.
*
* @return The current arm velocity.
*/
units::radians_per_second_t GetVelocity() const;
wpi::units::radians_per_second_t GetVelocity() const;
/**
* Returns the arm current draw.
*
* @return The arm current draw.
*/
units::ampere_t GetCurrentDraw() const;
wpi::units::ampere_t GetCurrentDraw() const;
/**
* Sets the input voltage for the arm.
*
* @param voltage The input voltage.
*/
void SetInputVoltage(units::volt_t voltage);
void SetInputVoltage(wpi::units::volt_t voltage);
/**
* Calculates a rough estimate of the moment of inertia of an arm given its
@@ -143,8 +143,8 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
*
* @return The calculated moment of inertia.
*/
static constexpr units::kilogram_square_meter_t EstimateMOI(
units::meter_t length, units::kilogram_t mass) {
static constexpr wpi::units::kilogram_square_meter_t EstimateMOI(
wpi::units::meter_t length, wpi::units::kilogram_t mass) {
return 1.0 / 3.0 * mass * length * length;
}
@@ -156,15 +156,15 @@ class SingleJointedArmSim : 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:
units::meter_t m_armLen;
units::radian_t m_minAngle;
units::radian_t m_maxAngle;
const DCMotor m_gearbox;
wpi::units::meter_t m_armLen;
wpi::units::radian_t m_minAngle;
wpi::units::radian_t m_maxAngle;
const wpi::math::DCMotor m_gearbox;
double m_gearing;
bool m_simulateGravity;
};
} // namespace frc::sim
} // namespace wpi::sim