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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(