commit 2054f5f1d06afe3526897c08eee7b71565362542
author Austin Schuh <austin@peloton-tech.com> Sun Oct 27 14:54:10 2013 -0700
committer Austin Schuh <austin@peloton-tech.com> Sun Oct 27 14:54:10 2013 -0700
tree c4a54c72862bf35bb3f93ab48922b8b1f1f03967
parent 6915528c5e00b56f6ade1d90eaae678aa19deffc

Ported the polydrivetrain code over to C++.

frc971/control_loops/drivetrain/drivetrain.h

diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index 7b07247..63ca76c 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -1,12 +1,20 @@
 #ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_H_
 #define FRC971_CONTROL_LOOPS_DRIVETRAIN_H_
 
+#include "Eigen/Dense"
+
+#include "aos/controls/polytope.h"
 #include "aos/common/control_loop/ControlLoop.h"
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 
 namespace frc971 {
 namespace control_loops {
 
+Eigen::Matrix<double, 2, 1> CoerceGoal(aos::controls::HPolytope<2> &region,
+                                       const Eigen::Matrix<double, 1, 2> &K,
+                                       double w,
+                                       const Eigen::Matrix<double, 2, 1> &R);
+
 class DrivetrainLoop
     : public aos::control_loops::ControlLoop<control_loops::Drivetrain> {
  public: