Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

16
wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h
View File

@@ -157,7 +157,19 @@ class TimeInterpolatableBuffer {
// Template specialization to ensure that Pose2d uses pose exponential
template <>
WPILIB_DLLEXPORT TimeInterpolatableBuffer<Pose2d>::TimeInterpolatableBuffer(
units::second_t historySize);
inline TimeInterpolatableBuffer<Pose2d>::TimeInterpolatableBuffer(
units::second_t historySize)
: m_historySize(historySize),
m_interpolatingFunc([](const Pose2d& start, const Pose2d& end, double t) {
if (t < 0) {
return start;
} else if (t >= 1) {
return end;
} else {
Twist2d twist = start.Log(end);
Twist2d scaledTwist = twist * t;
return start.Exp(scaledTwist);
}
}) {}
} // namespace frc