Split StatespaceLoop into a Plant, Controller, and Observer.
This doesn't yet move any of the logic out of the Loop.
Change-Id: I2cb0ea6d1a75c7011576ba752c50e512eeff5890
diff --git a/y2015/control_loops/fridge/fridge.cc b/y2015/control_loops/fridge/fridge.cc
index a6acae7..d34cd33 100644
--- a/y2015/control_loops/fridge/fridge.cc
+++ b/y2015/control_loops/fridge/fridge.cc
@@ -39,8 +39,8 @@
// Compute the K matrix used to compensate for position errors.
Eigen::Matrix<double, 2, 2> Kp;
Kp.setZero();
- Kp.col(0) = this->K().col(0);
- Kp.col(1) = this->K().col(2);
+ Kp.col(0) = this->controller().K().col(0);
+ Kp.col(1) = this->controller().K().col(2);
Eigen::Matrix<double, 2, 2> Kp_inv = Kp.inverse();