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

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This commit is contained in:
Tyler Veness
2024-11-07 13:02:11 -08:00
committed by GitHub
parent 44a45d44e2
commit a66fa339dc
71 changed files with 1512 additions and 1900 deletions
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25
wpimath/src/main/native/cpp/controller/DifferentialDriveAccelerationLimiter.cpp
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@@ -4,35 +4,10 @@
#include "frc/controller/DifferentialDriveAccelerationLimiter.h"
#include <utility>
#include <Eigen/QR>
using namespace frc;
DifferentialDriveAccelerationLimiter::DifferentialDriveAccelerationLimiter(
LinearSystem<2, 2, 2> system, units::meter_t trackwidth,
units::meters_per_second_squared_t maxLinearAccel,
units::radians_per_second_squared_t maxAngularAccel)
: DifferentialDriveAccelerationLimiter(system, trackwidth, -maxLinearAccel,
maxLinearAccel, maxAngularAccel) {}
DifferentialDriveAccelerationLimiter::DifferentialDriveAccelerationLimiter(
LinearSystem<2, 2, 2> system, units::meter_t trackwidth,
units::meters_per_second_squared_t minLinearAccel,
units::meters_per_second_squared_t maxLinearAccel,
units::radians_per_second_squared_t maxAngularAccel)
: m_system{std::move(system)},
m_trackwidth{trackwidth},
m_minLinearAccel{minLinearAccel},
m_maxLinearAccel{maxLinearAccel},
m_maxAngularAccel{maxAngularAccel} {
if (minLinearAccel > maxLinearAccel) {
throw std::invalid_argument(
"maxLinearAccel must be greater than minLinearAccel");
}
}
DifferentialDriveWheelVoltages DifferentialDriveAccelerationLimiter::Calculate(
units::meters_per_second_t leftVelocity,
units::meters_per_second_t rightVelocity, units::volt_t leftVoltage,