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35e8abedeb
People generally have expressed a dislike for the Hungarian notation used in member variables, especially in examples/templates, and our styleguide shouldn't be forced on downstream consumers, so this removes all Hungarian notation from the examples/templates. There are _some_ benefits to Hungarian for private member variables (like knowing what's a member vs. local in a PR review) so we'll keep private member variables the same for now, but public variables should no longer use Hungarian notation, since it looks much worse. A new PMD XPath rule has been added to accomplish this goal. Some other non-compliant variables were fixed for the new rule.
35 lines
1.5 KiB
C++
35 lines
1.5 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp"
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namespace {
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constexpr size_t kKvLinearOff = 0;
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constexpr size_t kKaLinearOff = kKvLinearOff + 8;
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constexpr size_t kKvAngularOff = kKaLinearOff + 8;
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constexpr size_t kKaAngularOff = kKvAngularOff + 8;
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} // namespace
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wpi::math::DifferentialDriveFeedforward
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wpi::util::Struct<wpi::math::DifferentialDriveFeedforward>::Unpack(
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std::span<const uint8_t> data) {
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return {decltype(1_V /
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1_mps){wpi::util::UnpackStruct<double, kKvLinearOff>(data)},
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decltype(1_V / 1_mps_sq){
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wpi::util::UnpackStruct<double, kKaLinearOff>(data)},
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decltype(1_V /
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1_mps){wpi::util::UnpackStruct<double, kKvAngularOff>(data)},
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decltype(1_V / 1_mps_sq){
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wpi::util::UnpackStruct<double, kKaAngularOff>(data)}};
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}
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void wpi::util::Struct<wpi::math::DifferentialDriveFeedforward>::Pack(
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std::span<uint8_t> data,
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const wpi::math::DifferentialDriveFeedforward& value) {
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wpi::util::PackStruct<kKvLinearOff>(data, value.kVLinear.value());
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wpi::util::PackStruct<kKaLinearOff>(data, value.kALinear.value());
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wpi::util::PackStruct<kKvAngularOff>(data, value.kVAngular.value());
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wpi::util::PackStruct<kKaAngularOff>(data, value.kAAngular.value());
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}
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