Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-30 02:31:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

12
wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
View File

@@ -4,7 +4,7 @@
#pragma once
#include <array>
#include <wpi/array.h>
#include "Eigen/Core"
#include "frc/spline/Spline.h"
@@ -29,10 +29,10 @@ class CubicHermiteSpline : public Spline<3> {
* @param yFinalControlVector The control vector for the final point in
* the y dimension.
*/
CubicHermiteSpline(std::array<double, 2> xInitialControlVector,
std::array<double, 2> xFinalControlVector,
std::array<double, 2> yInitialControlVector,
std::array<double, 2> yFinalControlVector);
CubicHermiteSpline(wpi::array<double, 2> xInitialControlVector,
wpi::array<double, 2> xFinalControlVector,
wpi::array<double, 2> yInitialControlVector,
wpi::array<double, 2> yFinalControlVector);
protected:
/**
@@ -72,7 +72,7 @@ class CubicHermiteSpline : public Spline<3> {
* @return The control vector matrix for a dimension.
*/
static Eigen::Vector4d ControlVectorFromArrays(
std::array<double, 2> initialVector, std::array<double, 2> finalVector) {
wpi::array<double, 2> initialVector, wpi::array<double, 2> finalVector) {
return (Eigen::Vector4d() << initialVector[0], initialVector[1],
finalVector[0], finalVector[1])
.finished();