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[wpimath, wpiutil] Add wpi::array for compile time size checking (#3087)

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The wpimath APIs use std::array, which doesn't do size checking. Passing
an array with the wrong size can result in uninitialized elements
instead of a compilation error.

This is a breaking change but is worthwhile to avoid hard-to-debug errors.
This commit is contained in:
Tyler Veness
2021-01-16 20:26:17 -08:00
committed by GitHub
parent d6ed20c1e4
commit f393989a5b
25 changed files with 227 additions and 118 deletions
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4
wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp
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@@ -8,7 +8,7 @@ namespace frc {
LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
const Eigen::Matrix<double, 1, 1>& A, const Eigen::Matrix<double, 1, 1>& B,
const std::array<double, 1>& Qelems, const std::array<double, 1>& Relems,
const wpi::array<double, 1>& Qelems, const wpi::array<double, 1>& Relems,
units::second_t dt)
: LinearQuadraticRegulator(A, B, MakeCostMatrix(Qelems),
MakeCostMatrix(Relems), dt) {}
@@ -21,7 +21,7 @@ LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 1>& B,
const std::array<double, 2>& Qelems, const std::array<double, 1>& Relems,
const wpi::array<double, 2>& Qelems, const wpi::array<double, 1>& Relems,
units::second_t dt)
: LinearQuadraticRegulator(A, B, MakeCostMatrix(Qelems),
MakeCostMatrix(Relems), dt) {}