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[wpimath] LTVDifferentialDriveController: Remove unused variable (#4212)

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This commit is contained in:
Tyler Veness
2022-05-04 22:03:15 -07:00
committed by GitHub
parent 99343d40ba
commit d5456cf278
2 changed files with 0 additions and 8 deletions
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wpimath/src/main/native/cpp/controller/LTVDifferentialDriveController.cpp
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@@ -59,11 +59,7 @@ LTVDifferentialDriveController::LTVDifferentialDriveController(
units::meters_per_second_t maxV{
-plant.A().householderQr().solve(plant.B() * Vectord<2>{12.0, 12.0})(0)};
Vectord<5> x = Vectord<5>::Zero();
for (auto velocity = -maxV; velocity < maxV; velocity += 0.01_mps) {
x(State::kLeftVelocity) = velocity.value();
x(State::kRightVelocity) = velocity.value();
// The DARE is ill-conditioned if the velocity is close to zero, so don't
// let the system stop.
if (units::math::abs(velocity) < 1e-4_mps) {