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[wpimath] Remove ImplicitModelFollower dt argument (#4119)

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The math works just fine without model discretization.
This commit is contained in:
Tyler Veness
2022-03-29 11:29:06 -07:00
committed by GitHub
parent b4620f01f9
commit c8905ec29a
4 changed files with 36 additions and 67 deletions
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4
wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp
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@@ -17,7 +17,7 @@ TEST(ImplicitModelFollowerTest, SameModel) {
auto plant = LinearSystemId::IdentifyDrivetrainSystem(Kv_t{1.0}, Ka_t{1.0},
Kv_t{1.0}, Ka_t{1.0});
ImplicitModelFollower<2, 2> imf{plant, plant, dt};
ImplicitModelFollower<2, 2> imf{plant, plant};
Eigen::Vector<double, 2> x{0.0, 0.0};
Eigen::Vector<double, 2> xImf{0.0, 0.0};
@@ -66,7 +66,7 @@ TEST(ImplicitModelFollowerTest, SlowerRefModel) {
auto plantRef = LinearSystemId::IdentifyDrivetrainSystem(
Kv_t{1.0}, Ka_t{2.0}, Kv_t{1.0}, Ka_t{1.0});
ImplicitModelFollower<2, 2> imf{plant, plantRef, dt};
ImplicitModelFollower<2, 2> imf{plant, plantRef};
Eigen::Vector<double, 2> x{0.0, 0.0};
Eigen::Vector<double, 2> xImf{0.0, 0.0};