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[wpimath] Make RamseteController::Calculate() more concise (#3763)

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This commit is contained in:
Tyler Veness
2021-12-06 12:57:42 -08:00
committed by GitHub
parent 3f6cf76a8c
commit acb64dff97
1 changed files with 2 additions and 4 deletions
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6
wpimath/src/main/native/cpp/controller/RamseteController.cpp
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@@ -71,10 +71,8 @@ ChassisSpeeds RamseteController::Calculate(
units::math::sqrt(units::math::pow<2>(omegaRef) +
m_b * units::math::pow<2>(vRef));
units::meters_per_second_t v{vRef * m_poseError.Rotation().Cos() + k * eX};
units::radians_per_second_t omega{omegaRef + k * eTheta +
m_b * vRef * Sinc(eTheta) * eY};
return ChassisSpeeds{v, 0_mps, omega};
return ChassisSpeeds{vRef * m_poseError.Rotation().Cos() + k * eX, 0_mps,
omegaRef + k * eTheta + m_b * vRef * Sinc(eTheta) * eY};
}
ChassisSpeeds RamseteController::Calculate(