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[wpimath] Clean up member initialization in feedforward classes (#3425)

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This commit is contained in:
Tyler Veness
2021-06-09 23:59:31 -07:00
committed by GitHub
parent c1e128bd5a
commit e246b78846
4 changed files with 6 additions and 10 deletions
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6
wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
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@@ -57,8 +57,7 @@ class ControlAffinePlantInversionFeedforward {
f, Eigen::Matrix<double, States, 1>::Zero(),
Eigen::Matrix<double, Inputs, 1>::Zero());
m_r.setZero();
Reset(m_r);
Reset();
}
/**
@@ -80,8 +79,7 @@ class ControlAffinePlantInversionFeedforward {
const Eigen::Matrix<double, Inputs, 1>& u)
-> Eigen::Matrix<double, States, 1> { return f(x); };
m_r.setZero();
Reset(m_r);
Reset();
}
ControlAffinePlantInversionFeedforward(

4
wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
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@@ -51,9 +51,7 @@ class LinearPlantInversionFeedforward {
const Eigen::Matrix<double, States, Inputs>& B, units::second_t dt)
: m_dt(dt) {
DiscretizeAB<States, Inputs>(A, B, dt, &m_A, &m_B);
m_r.setZero();
Reset(m_r);
Reset();
}
/**