commit 36816c7dc946c15817961b9c562cc5254479500f
author Austin Schuh <austin.linux@gmail.com> Sat Feb 25 15:09:07 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Feb 25 15:09:07 2017 -0800
tree 24788ffb254878fab71d3547f86526b79705c59b
parent 64f17a5c4497c5263d98ac29fde456cf17430c1f

Remove unused StateFeedbackLoop test.

Change-Id: Ib3b0ae1cc78426a8a2c4a356364a3a0a8451f139

frc971/control_loops/state_feedback_loop.h

diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index bcf00d6..3b935e2 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -207,16 +207,6 @@
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
 
   StateFeedbackLoop(
-      const StateFeedbackControllerConstants<number_of_states, number_of_inputs,
-                                             number_of_outputs> &controller)
-      : controller_index_(0) {
-    controllers_.emplace_back(
-        new StateFeedbackControllerConstants<number_of_states, number_of_inputs,
-                                             number_of_outputs>(controller));
-    Reset();
-  }
-
-  StateFeedbackLoop(
       ::std::vector<::std::unique_ptr<StateFeedbackControllerConstants<
           number_of_states, number_of_inputs, number_of_outputs>>> *controllers)
       : controllers_(::std::move(*controllers)), controller_index_(0) {

frc971/control_loops/state_feedback_loop_test.cc

diff --git a/frc971/control_loops/state_feedback_loop_test.cc b/frc971/control_loops/state_feedback_loop_test.cc
index 9077103..47434e4 100644
--- a/frc971/control_loops/state_feedback_loop_test.cc
+++ b/frc971/control_loops/state_feedback_loop_test.cc
@@ -31,23 +31,14 @@
     plant.CheckU(Eigen::Matrix<double, 4, 1>::Zero());
   }
   {
-    StateFeedbackLoop<2, 4, 7> test_loop(
-        StateFeedbackControllerConstants<2, 4, 7>(
-            Eigen::Matrix<double, 2, 7>::Identity(),
-            Eigen::Matrix<double, 4, 2>::Identity(),
-            Eigen::Matrix<double, 4, 2>::Identity(),
-            Eigen::Matrix<double, 2, 2>::Identity(), coefficients));
-    test_loop.Correct(Eigen::Matrix<double, 7, 1>::Identity());
-    test_loop.Update(false);
-    test_loop.CapU();
-  }
-  {
-    StateFeedbackLoop<2, 4, 7> test_loop(
-        StateFeedbackControllerConstants<2, 4, 7>(
-            Eigen::Matrix<double, 2, 7>::Identity(),
-            Eigen::Matrix<double, 4, 2>::Identity(),
-            Eigen::Matrix<double, 4, 2>::Identity(),
-            Eigen::Matrix<double, 2, 2>::Identity(), coefficients));
+    ::std::vector<::std::unique_ptr<StateFeedbackControllerConstants<2, 4, 7>>>
+        v;
+    v.emplace_back(new StateFeedbackControllerConstants<2, 4, 7>(
+        Eigen::Matrix<double, 2, 7>::Identity(),
+        Eigen::Matrix<double, 4, 2>::Identity(),
+        Eigen::Matrix<double, 4, 2>::Identity(),
+        Eigen::Matrix<double, 2, 2>::Identity(), coefficients));
+    StateFeedbackLoop<2, 4, 7> test_loop(&v);
     test_loop.Correct(Eigen::Matrix<double, 7, 1>::Identity());
     test_loop.Update(false);
     test_loop.CapU();