[wpimath] Make controllers and some trajectory classes constexpr (#7343)

2026-06-20 00:51:42 +00:00 · 2024-11-07 13:02:11 -08:00
parent 44a45d44e2
commit a66fa339dc
71 changed files with 1512 additions and 1900 deletions
--- a/wpilibc/src/main/native/cpp/simulation/AddressableLEDSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/AddressableLEDSim.cpp
@@ -6,7 +6,6 @@

 #include <memory>
 #include <stdexcept>
-#include <utility>

 #include <hal/simulation/AddressableLEDData.h>

--- a/wpilibc/src/main/native/cpp/simulation/AnalogGyroSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/AnalogGyroSim.cpp
@@ -5,7 +5,6 @@
 #include "frc/simulation/AnalogGyroSim.h"

 #include <memory>
-#include <utility>

 #include <hal/simulation/AnalogGyroData.h>

--- a/wpilibc/src/main/native/cpp/simulation/AnalogInputSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/AnalogInputSim.cpp
@@ -5,7 +5,6 @@
 #include "frc/simulation/AnalogInputSim.h"

 #include <memory>
-#include <utility>

 #include <hal/simulation/AnalogInData.h>

--- a/wpilibc/src/main/native/cpp/simulation/AnalogOutputSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/AnalogOutputSim.cpp
@@ -5,7 +5,6 @@
 #include "frc/simulation/AnalogOutputSim.h"

 #include <memory>
-#include <utility>

 #include <hal/simulation/AnalogOutData.h>

--- a/wpilibc/src/main/native/cpp/simulation/AnalogTriggerSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/AnalogTriggerSim.cpp
@@ -6,7 +6,6 @@

 #include <memory>
 #include <stdexcept>
-#include <utility>

 #include <hal/simulation/AnalogTriggerData.h>

--- a/wpilibc/src/main/native/cpp/simulation/BuiltInAccelerometerSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/BuiltInAccelerometerSim.cpp
@@ -5,7 +5,6 @@
 #include "frc/simulation/BuiltInAccelerometerSim.h"

 #include <memory>
-#include <utility>

 #include <hal/simulation/AccelerometerData.h>

--- a/wpilibc/src/main/native/cpp/simulation/CTREPCMSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/CTREPCMSim.cpp
@@ -5,7 +5,6 @@
 #include "frc/simulation/CTREPCMSim.h"

 #include <memory>
-#include <utility>

 #include <hal/simulation/CTREPCMData.h>

--- a/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
@@ -6,7 +6,7 @@

 #include <wpi/MathExtras.h>

-#include "frc/system/plant/LinearSystemId.h"
+#include "frc/RobotController.h"

 using namespace frc;
 using namespace frc::sim;
--- a/wpilibc/src/main/native/cpp/simulation/DIOSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DIOSim.cpp
@@ -5,7 +5,6 @@
 #include "frc/simulation/DIOSim.h"

 #include <memory>
-#include <utility>

 #include <hal/simulation/DIOData.h>

--- a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
@@ -11,6 +11,7 @@
 #include <wpi/MathExtras.h>

 #include "frc/RobotController.h"
+#include "frc/StateSpaceUtil.h"
 #include "frc/system/NumericalIntegration.h"

 using namespace frc;
--- a/wpilibc/src/main/native/cpp/simulation/DigitalPWMSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DigitalPWMSim.cpp
@@ -6,7 +6,6 @@

 #include <memory>
 #include <stdexcept>
-#include <utility>

 #include <hal/simulation/DigitalPWMData.h>

--- a/wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp
@@ -5,7 +5,6 @@
 #include "frc/simulation/DriverStationSim.h"

 #include <memory>
-#include <utility>

 #include <hal/DriverStation.h>
 #include <hal/simulation/DriverStationData.h>
--- a/wpilibc/src/main/native/cpp/simulation/DutyCycleSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DutyCycleSim.cpp
@@ -6,7 +6,6 @@

 #include <memory>
 #include <stdexcept>
-#include <utility>

 #include <hal/simulation/DutyCycleData.h>

--- a/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
@@ -6,6 +6,7 @@

 #include <wpi/MathExtras.h>

+#include "frc/RobotController.h"
 #include "frc/system/NumericalIntegration.h"
 #include "frc/system/plant/LinearSystemId.h"

--- a/wpilibc/src/main/native/cpp/simulation/EncoderSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/EncoderSim.cpp
@@ -6,7 +6,6 @@

 #include <memory>
 #include <stdexcept>
-#include <utility>

 #include <hal/simulation/EncoderData.h>

--- a/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
@@ -6,7 +6,7 @@

 #include <wpi/MathExtras.h>

-#include "frc/system/plant/LinearSystemId.h"
+#include "frc/RobotController.h"

 using namespace frc;
 using namespace frc::sim;
--- a/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp
@@ -5,7 +5,6 @@
 #include "frc/simulation/PWMSim.h"

 #include <memory>
-#include <utility>

 #include <hal/simulation/PWMData.h>

--- a/wpilibc/src/main/native/cpp/simulation/PowerDistributionSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/PowerDistributionSim.cpp
@@ -5,7 +5,6 @@
 #include "frc/simulation/PowerDistributionSim.h"

 #include <memory>
-#include <utility>

 #include <hal/simulation/PowerDistributionData.h>

--- a/wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp
@@ -5,7 +5,6 @@
 #include "frc/simulation/REVPHSim.h"

 #include <memory>
-#include <utility>

 #include <hal/simulation/REVPHData.h>

--- a/wpilibc/src/main/native/cpp/simulation/RelaySim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/RelaySim.cpp
@@ -5,7 +5,6 @@
 #include "frc/simulation/RelaySim.h"

 #include <memory>
-#include <utility>

 #include <hal/simulation/RelayData.h>

--- a/wpilibc/src/main/native/cpp/simulation/SPIAccelerometerSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SPIAccelerometerSim.cpp
@@ -5,7 +5,6 @@
 #include "frc/simulation/SPIAccelerometerSim.h"

 #include <memory>
-#include <utility>

 #include <hal/simulation/SPIAccelerometerData.h>

--- a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
@@ -9,6 +9,7 @@
 #include <units/voltage.h>
 #include <wpi/MathExtras.h>

+#include "frc/RobotController.h"
 #include "frc/system/NumericalIntegration.h"
 #include "frc/system/plant/LinearSystemId.h"