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[wpilib] Rename NormalizeWheelSpeeds to DesaturateWheelSpeeds (#3791)

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This commit is contained in:
Oblarg
2021-12-30 21:30:08 -05:00
committed by GitHub
parent 102f23bbdb
commit b8d019cdb4
44 changed files with 104 additions and 94 deletions
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6
wpimath/src/main/native/include/frc/StateSpaceUtil.h
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@@ -336,8 +336,8 @@ Eigen::Vector<double, Inputs> ClampInputMaxMagnitude(
}
/**
* Normalize all inputs if any excedes the maximum magnitude. Useful for systems
* such as differential drivetrains.
* Renormalize all inputs if any exceeds the maximum magnitude. Useful for
* systems such as differential drivetrains.
*
* @tparam Inputs The number of inputs.
* @param u The input vector.
@@ -345,7 +345,7 @@ Eigen::Vector<double, Inputs> ClampInputMaxMagnitude(
* @return The normalizedInput
*/
template <int Inputs>
Eigen::Vector<double, Inputs> NormalizeInputVector(
Eigen::Vector<double, Inputs> DesaturateInputVector(
const Eigen::Vector<double, Inputs>& u, double maxMagnitude) {
double maxValue = u.template lpNorm<Eigen::Infinity>();