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[wpimath] Remove unnecessary copying in constraints (#2645)

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This commit is contained in:
Prateek Machiraju
2020-08-19 22:36:58 -04:00
committed by GitHub
parent 73047d8b35
commit b23ede7d50
8 changed files with 19 additions and 16 deletions
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3
wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp
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@@ -10,7 +10,8 @@
using namespace frc;
DifferentialDriveKinematicsConstraint::DifferentialDriveKinematicsConstraint(
DifferentialDriveKinematics kinematics, units::meters_per_second_t maxSpeed)
const DifferentialDriveKinematics& kinematics,
units::meters_per_second_t maxSpeed)
: m_kinematics(kinematics), m_maxSpeed(maxSpeed) {}
units::meters_per_second_t DifferentialDriveKinematicsConstraint::MaxVelocity(

4
wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveVoltageConstraint.cpp
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@@ -17,8 +17,8 @@
using namespace frc;
DifferentialDriveVoltageConstraint::DifferentialDriveVoltageConstraint(
SimpleMotorFeedforward<units::meter> feedforward,
DifferentialDriveKinematics kinematics, units::volt_t maxVoltage)
const SimpleMotorFeedforward<units::meter>& feedforward,
const DifferentialDriveKinematics& kinematics, units::volt_t maxVoltage)
: m_feedforward(feedforward),
m_kinematics(kinematics),
m_maxVoltage(maxVoltage) {}

3
wpimath/src/main/native/cpp/trajectory/constraint/MecanumDriveKinematicsConstraint.cpp
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@@ -12,7 +12,8 @@
using namespace frc;
MecanumDriveKinematicsConstraint::MecanumDriveKinematicsConstraint(
MecanumDriveKinematics kinematics, units::meters_per_second_t maxSpeed)
const MecanumDriveKinematics& kinematics,
units::meters_per_second_t maxSpeed)
: m_kinematics(kinematics), m_maxSpeed(maxSpeed) {}
units::meters_per_second_t MecanumDriveKinematicsConstraint::MaxVelocity(

7
wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
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@@ -20,8 +20,9 @@ namespace frc {
*/
class DifferentialDriveKinematicsConstraint : public TrajectoryConstraint {
public:
DifferentialDriveKinematicsConstraint(DifferentialDriveKinematics kinematics,
units::meters_per_second_t maxSpeed);
DifferentialDriveKinematicsConstraint(
const DifferentialDriveKinematics& kinematics,
units::meters_per_second_t maxSpeed);
units::meters_per_second_t MaxVelocity(
const Pose2d& pose, units::curvature_t curvature,
@@ -31,7 +32,7 @@ class DifferentialDriveKinematicsConstraint : public TrajectoryConstraint {
units::meters_per_second_t speed) const override;
private:
DifferentialDriveKinematics m_kinematics;
const DifferentialDriveKinematics& m_kinematics;
units::meters_per_second_t m_maxSpeed;
};
} // namespace frc

8
wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
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@@ -33,8 +33,8 @@ class DifferentialDriveVoltageConstraint : public TrajectoryConstraint {
* voltage (12V) to account for "voltage sag" due to current draw.
*/
DifferentialDriveVoltageConstraint(
SimpleMotorFeedforward<units::meter> feedforward,
DifferentialDriveKinematics kinematics, units::volt_t maxVoltage);
const SimpleMotorFeedforward<units::meter>& feedforward,
const DifferentialDriveKinematics& kinematics, units::volt_t maxVoltage);
units::meters_per_second_t MaxVelocity(
const Pose2d& pose, units::curvature_t curvature,
@@ -44,8 +44,8 @@ class DifferentialDriveVoltageConstraint : public TrajectoryConstraint {
units::meters_per_second_t speed) const override;
private:
SimpleMotorFeedforward<units::meter> m_feedforward;
DifferentialDriveKinematics m_kinematics;
const SimpleMotorFeedforward<units::meter>& m_feedforward;
const DifferentialDriveKinematics& m_kinematics;
units::volt_t m_maxVoltage;
};
} // namespace frc

4
wpimath/src/main/native/include/frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h
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@@ -22,7 +22,7 @@ namespace frc {
*/
class MecanumDriveKinematicsConstraint : public TrajectoryConstraint {
public:
MecanumDriveKinematicsConstraint(MecanumDriveKinematics kinematics,
MecanumDriveKinematicsConstraint(const MecanumDriveKinematics& kinematics,
units::meters_per_second_t maxSpeed);
units::meters_per_second_t MaxVelocity(
@@ -33,7 +33,7 @@ class MecanumDriveKinematicsConstraint : public TrajectoryConstraint {
units::meters_per_second_t speed) const override;
private:
MecanumDriveKinematics m_kinematics;
const MecanumDriveKinematics& m_kinematics;
units::meters_per_second_t m_maxSpeed;
};
} // namespace frc

4
wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h
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@@ -25,7 +25,7 @@ template <size_t NumModules>
class SwerveDriveKinematicsConstraint : public TrajectoryConstraint {
public:
SwerveDriveKinematicsConstraint(
frc::SwerveDriveKinematics<NumModules> kinematics,
const frc::SwerveDriveKinematics<NumModules>& kinematics,
units::meters_per_second_t maxSpeed);
units::meters_per_second_t MaxVelocity(
@@ -36,7 +36,7 @@ class SwerveDriveKinematicsConstraint : public TrajectoryConstraint {
units::meters_per_second_t speed) const override;
private:
frc::SwerveDriveKinematics<NumModules> m_kinematics;
const frc::SwerveDriveKinematics<NumModules>& m_kinematics;
units::meters_per_second_t m_maxSpeed;
};
} // namespace frc

2
wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc
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@@ -19,7 +19,7 @@ template <size_t NumModules>
* commanded velocities of the wheels stay below a certain limit.
*/
SwerveDriveKinematicsConstraint<NumModules>::SwerveDriveKinematicsConstraint(
frc::SwerveDriveKinematics<NumModules> kinematics,
const frc::SwerveDriveKinematics<NumModules>& kinematics,
units::meters_per_second_t maxSpeed)
: m_kinematics(kinematics), m_maxSpeed(maxSpeed) {}