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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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12
wpimath/src/main/native/cpp/controller/LTVUnicycleController.cpp
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@@ -8,12 +8,12 @@
#include "wpi/math/system/Discretization.hpp"
#include "wpi/units/math.hpp"
using namespace frc;
using namespace wpi::math;
ChassisSpeeds LTVUnicycleController::Calculate(
const Pose2d& currentPose, const Pose2d& poseRef,
units::meters_per_second_t linearVelocityRef,
units::radians_per_second_t angularVelocityRef) {
wpi::units::meters_per_second_t linearVelocityRef,
wpi::units::radians_per_second_t angularVelocityRef) {
// The change in global pose for a unicycle is defined by the following three
// equations.
//
@@ -53,7 +53,7 @@ ChassisSpeeds LTVUnicycleController::Calculate(
// The DARE is ill-conditioned if the velocity is close to zero, so don't
// let the system stop.
if (units::math::abs(linearVelocityRef) < 1e-4_mps) {
if (wpi::units::math::abs(linearVelocityRef) < 1e-4_mps) {
linearVelocityRef = 1e-4_mps;
}
@@ -78,7 +78,7 @@ ChassisSpeeds LTVUnicycleController::Calculate(
m_poseError.Rotation().Radians().value()};
Eigen::Vector2d u = K * e;
return ChassisSpeeds{linearVelocityRef + units::meters_per_second_t{u(0)},
return ChassisSpeeds{linearVelocityRef + wpi::units::meters_per_second_t{u(0)},
0_mps,
angularVelocityRef + units::radians_per_second_t{u(1)}};
angularVelocityRef + wpi::units::radians_per_second_t{u(1)}};
}