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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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16
wpimath/src/main/native/include/wpi/math/system/LinearSystemLoop.hpp
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@@ -15,7 +15,7 @@
#include "wpi/units/voltage.hpp"
#include "wpi/util/SymbolExports.hpp"
namespace frc {
namespace wpi::math {
/**
* Combines a controller, feedforward, and observer for controlling a mechanism
@@ -57,11 +57,11 @@ class LinearSystemLoop {
LinearSystemLoop(LinearSystem<States, Inputs, Outputs>& plant,
LinearQuadraticRegulator<States, Inputs>& controller,
KalmanFilter<States, Inputs, Outputs>& observer,
units::volt_t maxVoltage, units::second_t dt)
wpi::units::volt_t maxVoltage, wpi::units::second_t dt)
: LinearSystemLoop(
plant, controller, observer,
[=](const InputVector& u) {
return frc::DesaturateInputVector<Inputs>(u, maxVoltage.value());
return wpi::math::DesaturateInputVector<Inputs>(u, maxVoltage.value());
},
dt) {}
@@ -81,7 +81,7 @@ class LinearSystemLoop {
LinearQuadraticRegulator<States, Inputs>& controller,
KalmanFilter<States, Inputs, Outputs>& observer,
std::function<InputVector(const InputVector&)> clampFunction,
units::second_t dt)
wpi::units::second_t dt)
: LinearSystemLoop(
controller,
LinearPlantInversionFeedforward<States, Inputs>{plant, dt},
@@ -101,10 +101,10 @@ class LinearSystemLoop {
LinearSystemLoop(
LinearQuadraticRegulator<States, Inputs>& controller,
const LinearPlantInversionFeedforward<States, Inputs>& feedforward,
KalmanFilter<States, Inputs, Outputs>& observer, units::volt_t maxVoltage)
KalmanFilter<States, Inputs, Outputs>& observer, wpi::units::volt_t maxVoltage)
: LinearSystemLoop(
controller, feedforward, observer, [=](const InputVector& u) {
return frc::DesaturateInputVector<Inputs>(u, maxVoltage.value());
return wpi::math::DesaturateInputVector<Inputs>(u, maxVoltage.value());
}) {}
/**
@@ -251,7 +251,7 @@ class LinearSystemLoop {
*
* @param dt Timestep for model update.
*/
void Predict(units::second_t dt) {
void Predict(wpi::units::second_t dt) {
InputVector u =
ClampInput(m_controller->Calculate(m_observer->Xhat(), m_nextR) +
m_feedforward.Calculate(m_nextR));
@@ -290,4 +290,4 @@ extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
LinearSystemLoop<2, 1, 1>;
} // namespace frc
} // namespace wpi::math