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[wpilibc] Fix const-qualification in kinematics and constraints (#2478)

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This commit is contained in:
Prateek Machiraju
2020-04-14 01:32:25 -04:00
committed by GitHub
parent a3a8472b82
commit e5935a4737
21 changed files with 71 additions and 66 deletions
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10
wpilibc/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
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@@ -68,7 +68,8 @@ class SimpleMotorFeedforward {
* @return The maximum possible velocity at the given acceleration.
*/
constexpr units::unit_t<Velocity> MaxAchievableVelocity(
units::volt_t maxVoltage, units::unit_t<Acceleration> acceleration) {
units::volt_t maxVoltage,
units::unit_t<Acceleration> acceleration) const {
// Assume max velocity is positive
return (maxVoltage - kS - kA * acceleration) / kV;
}
@@ -85,7 +86,8 @@ class SimpleMotorFeedforward {
* @return The minimum possible velocity at the given acceleration.
*/
constexpr units::unit_t<Velocity> MinAchievableVelocity(
units::volt_t maxVoltage, units::unit_t<Acceleration> acceleration) {
units::volt_t maxVoltage,
units::unit_t<Acceleration> acceleration) const {
// Assume min velocity is positive, ks flips sign
return (-maxVoltage + kS - kA * acceleration) / kV;
}
@@ -102,7 +104,7 @@ class SimpleMotorFeedforward {
* @return The maximum possible acceleration at the given velocity.
*/
constexpr units::unit_t<Acceleration> MaxAchievableAcceleration(
units::volt_t maxVoltage, units::unit_t<Velocity> velocity) {
units::volt_t maxVoltage, units::unit_t<Velocity> velocity) const {
return (maxVoltage - kS * wpi::sgn(velocity) - kV * velocity) / kA;
}
@@ -118,7 +120,7 @@ class SimpleMotorFeedforward {
* @return The minimum possible acceleration at the given velocity.
*/
constexpr units::unit_t<Acceleration> MinAchievableAcceleration(
units::volt_t maxVoltage, units::unit_t<Velocity> velocity) {
units::volt_t maxVoltage, units::unit_t<Velocity> velocity) const {
return MaxAchievableAcceleration(-maxVoltage, velocity);
}