Expose dt in control loop plant parameters
Change-Id: I0da4cbde0117c78bd56ce910069a3e0c0bc1744f
diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index 81783cc..83a54f0 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -39,7 +39,8 @@
C(other.C),
D(other.D),
U_min(other.U_min),
- U_max(other.U_max) {}
+ U_max(other.U_max),
+ dt(other.dt) {}
StateFeedbackPlantCoefficients(
const Eigen::Matrix<Scalar, number_of_states, number_of_states> &A,
@@ -47,8 +48,9 @@
const Eigen::Matrix<Scalar, number_of_outputs, number_of_states> &C,
const Eigen::Matrix<Scalar, number_of_outputs, number_of_inputs> &D,
const Eigen::Matrix<Scalar, number_of_inputs, 1> &U_max,
- const Eigen::Matrix<Scalar, number_of_inputs, 1> &U_min)
- : A(A), B(B), C(C), D(D), U_min(U_min), U_max(U_max) {}
+ const Eigen::Matrix<Scalar, number_of_inputs, 1> &U_min,
+ const std::chrono::nanoseconds dt)
+ : A(A), B(B), C(C), D(D), U_min(U_min), U_max(U_max), dt(dt) {}
const Eigen::Matrix<Scalar, number_of_states, number_of_states> A;
const Eigen::Matrix<Scalar, number_of_states, number_of_inputs> B;
@@ -56,6 +58,7 @@
const Eigen::Matrix<Scalar, number_of_outputs, number_of_inputs> D;
const Eigen::Matrix<Scalar, number_of_inputs, 1> U_min;
const Eigen::Matrix<Scalar, number_of_inputs, 1> U_max;
+ const std::chrono::nanoseconds dt;
};
template <int number_of_states, int number_of_inputs, int number_of_outputs,