s/change_/mutable_/g
diff --git a/frc971/control_loops/shooter/shooter.h b/frc971/control_loops/shooter/shooter.h
index 7816c8e..71c1fa4 100755
--- a/frc971/control_loops/shooter/shooter.h
+++ b/frc971/control_loops/shooter/shooter.h
@@ -74,14 +74,14 @@
double goal_position() const { return R(0) + kPositionOffset; }
double goal_velocity() const { return R(1); }
void InitializeState(double position) {
- change_X_hat(0) = position - kPositionOffset;
+ mutable_X_hat(0) = position - kPositionOffset;
}
void SetGoalPosition(double desired_position, double desired_velocity) {
LOG(DEBUG, "Goal position: %f Goal velocity: %f\n", desired_position,
desired_velocity);
- change_R() << desired_position - kPositionOffset, desired_velocity,
+ mutable_R() << desired_position - kPositionOffset, desired_velocity,
(-A(1, 0) / A(1, 2) * (desired_position - kPositionOffset) -
A(1, 1) / A(1, 2) * desired_velocity);
}