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[wpimath] KalmanFilter: Use extern template instead of Impl class

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This commit is contained in:
Peter Johnson
2022-04-29 17:24:23 -07:00
parent e3d62c22d3
commit ae7b1851ec
3 changed files with 104 additions and 135 deletions
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13
wpimath/src/main/native/cpp/estimator/KalmanFilter.cpp
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@@ -6,16 +6,7 @@
namespace frc {
KalmanFilter<1, 1, 1>::KalmanFilter(
LinearSystem<1, 1, 1>& plant, const wpi::array<double, 1>& stateStdDevs,
const wpi::array<double, 1>& measurementStdDevs, units::second_t dt)
: detail::KalmanFilterImpl<1, 1, 1>{plant, stateStdDevs, measurementStdDevs,
dt} {}
KalmanFilter<2, 1, 1>::KalmanFilter(
LinearSystem<2, 1, 1>& plant, const wpi::array<double, 2>& stateStdDevs,
const wpi::array<double, 1>& measurementStdDevs, units::second_t dt)
: detail::KalmanFilterImpl<2, 1, 1>{plant, stateStdDevs, measurementStdDevs,
dt} {}
template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT) KalmanFilter<1, 1, 1>;
template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT) KalmanFilter<2, 1, 1>;
} // namespace frc