commit 3ad5ed8359234dbeafbd1522208151176ac17173
author Austin Schuh <austin.linux@gmail.com> Sat Feb 25 21:36:19 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 04 17:55:14 2017 -0800
tree 8b92838ac356fcf038b3f2984d9ef4d5d16e949e
parent e91f14ce0d3569b224c85d8ca29b6697e20241f0

Added a hybrid KF for the shooter.

Change-Id: If3ba2e6978773aef2e63c9bfeb0cc6e2dec483d5

y2017/control_loops/superstructure/shooter/shooter.h

diff --git a/y2017/control_loops/superstructure/shooter/shooter.h b/y2017/control_loops/superstructure/shooter/shooter.h
index 41e24c0..7dc44bf 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.h
+++ b/y2017/control_loops/superstructure/shooter/shooter.h
@@ -49,7 +49,9 @@
   // The current sensor measurement.
   Eigen::Matrix<double, 1, 1> Y_;
   // The control loop.
-  ::std::unique_ptr<StateFeedbackLoop<3, 1, 1>> loop_;
+  ::std::unique_ptr<StateFeedbackLoop<
+      3, 1, 1, StateFeedbackHybridPlant<3, 1, 1>, HybridKalman<3, 1, 1>>>
+      loop_;
 
   // History array for calculating a filtered angular velocity.
   static constexpr int kHistoryLength = 5;