commit 3ae42262b9c402e77d4e13a2971e4db6165dcbea
author James Kuszmaul <jabukuszmaul@gmail.com> Fri Nov 08 12:33:41 2019 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Dec 01 18:55:17 2019 -0800
tree 80559a1309f574ea0d490f323ab8f98a85491c28
parent a849d9f3da7c441735e2d50d1440a483f26558b7

Upgrade WPILib and upgraded compilers to C++17

I haven't touched the CTRE libraries yet, although they may need to be
upgraded as well.

Note that this change makes it so that you need either Ubuntu 18.04 or
later or debian buster or later in order to build the code (you may be
able to build code for the roborio on older operating systems, but
running the tests will not work normally).

Change-Id: I0cfa37fe37f830edde6d305e1f50414c369098e4

frc971/control_loops/drivetrain/libspline.cc

diff --git a/frc971/control_loops/drivetrain/libspline.cc b/frc971/control_loops/drivetrain/libspline.cc
index 1d7aa0b..5f5b02e 100644
--- a/frc971/control_loops/drivetrain/libspline.cc
+++ b/frc971/control_loops/drivetrain/libspline.cc
@@ -25,27 +25,27 @@
   void deleteSpline(NSpline<6> *spline) { delete spline; }
 
   void SplinePoint(NSpline<6> *spline, double alpha, double *res) {
-    double *val = spline->Point(alpha).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d xy = spline->Point(alpha);
+    res[0] = xy.x();
+    res[1] = xy.y();
   }
 
   void SplineDPoint(NSpline<6> *spline, double alpha, double *res) {
-    double *val = spline->DPoint(alpha).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d dxy = spline->DPoint(alpha);
+    res[0] = dxy.x();
+    res[1] = dxy.y();
   }
 
   void SplineDDPoint(NSpline<6> *spline, double alpha, double *res) {
-    double *val = spline->DDPoint(alpha).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d ddxy = spline->DDPoint(alpha);
+    res[0] = ddxy.x();
+    res[1] = ddxy.y();
   }
 
   void SplineDDDPoint(NSpline<6> *spline, double alpha, double *res) {
-    double *val = spline->DDDPoint(alpha).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d dddxy = spline->DDDPoint(alpha);
+    res[0] = dddxy.x();
+    res[1] = dddxy.y();
   }
 
   double SplineTheta(NSpline<6> *spline, double alpha) {
@@ -81,22 +81,22 @@
   void deleteDistanceSpline(DistanceSpline *spline) { delete spline; }
 
   void DistanceSplineXY(DistanceSpline *spline, double distance, double *res) {
-    double *val = spline->XY(distance).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d xy = spline->XY(distance);
+    res[0] = xy.x();
+    res[1] = xy.y();
   }
 
   void DistanceSplineDXY(DistanceSpline *spline, double distance, double *res) {
-    double *val = spline->DXY(distance).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d dxy = spline->DXY(distance);
+    res[0] = dxy.x();
+    res[1] = dxy.y();
   }
 
   void DistanceSplineDDXY(DistanceSpline *spline, double distance,
                           double *res) {
-    double *val = spline->DDXY(distance).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d ddxy = spline->DDXY(distance);
+    res[0] = ddxy.x();
+    res[1] = ddxy.y();
   }
 
   double DistanceSplineTheta(DistanceSpline *spline, double distance) {
@@ -150,9 +150,9 @@
   void TrajectoryPlan(Trajectory *t) { t->Plan(); }
 
   void TrajectoryVoltage(Trajectory *t, double distance, double* res) {
-    double *val = t->FFVoltage(distance).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d ff_voltage = t->FFVoltage(distance);
+    res[0] = ff_voltage.x();
+    res[1] = ff_voltage.y();
   }
 
   double TrajectoryLength(Trajectory *t) { return t->length(); }