Upgrade clang to 16.0.3
We really want clang 17 for the new CUDA version, but that isn't out
yet. This gets us a lot closer.
Change-Id: Iff6bb187260777690ae68a7eaef1e508c7194e68
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/frc971/control_loops/drivetrain/trajectory.h b/frc971/control_loops/drivetrain/trajectory.h
index e30ca98..b2cecc0 100644
--- a/frc971/control_loops/drivetrain/trajectory.h
+++ b/frc971/control_loops/drivetrain/trajectory.h
@@ -92,8 +92,8 @@
}
const StateFeedbackLoop<2, 2, 2, double, StateFeedbackHybridPlant<2, 2, 2>,
- HybridKalman<2, 2, 2>>
- &velocity_drivetrain() const {
+ HybridKalman<2, 2, 2>> &
+ velocity_drivetrain() const {
return *velocity_drivetrain_;
}
diff --git a/frc971/control_loops/hybrid_state_feedback_loop.h b/frc971/control_loops/hybrid_state_feedback_loop.h
index d8dbe72..79e7da7 100644
--- a/frc971/control_loops/hybrid_state_feedback_loop.h
+++ b/frc971/control_loops/hybrid_state_feedback_loop.h
@@ -120,8 +120,8 @@
return coefficients().U_max;
}
Scalar U_max(int i, int j) const { return U_max()(i, j); }
- const Eigen::Matrix<Scalar, number_of_inputs, number_of_states>
- &U_limit_coefficient() const {
+ const Eigen::Matrix<Scalar, number_of_inputs, number_of_states> &
+ U_limit_coefficient() const {
return coefficients().U_limit_coefficient;
}
Scalar U_limit_coefficient(int i, int j) const {
@@ -145,14 +145,14 @@
Scalar &mutable_Y(int i) { return mutable_Y()(i); }
const StateFeedbackHybridPlantCoefficients<number_of_states, number_of_inputs,
- number_of_outputs, Scalar>
- &coefficients(int index) const {
+ number_of_outputs, Scalar> &
+ coefficients(int index) const {
return *coefficients_[index];
}
const StateFeedbackHybridPlantCoefficients<number_of_states, number_of_inputs,
- number_of_outputs, Scalar>
- &coefficients() const {
+ number_of_outputs, Scalar> &
+ coefficients() const {
return *coefficients_[index_];
}
@@ -398,14 +398,14 @@
int index() const { return index_; }
const HybridKalmanCoefficients<number_of_states, number_of_inputs,
- number_of_outputs>
- &coefficients(int index) const {
+ number_of_outputs> &
+ coefficients(int index) const {
return *coefficients_[index];
}
const HybridKalmanCoefficients<number_of_states, number_of_inputs,
- number_of_outputs>
- &coefficients() const {
+ number_of_outputs> &
+ coefficients() const {
return *coefficients_[index_];
}
diff --git a/frc971/control_loops/profiled_subsystem.h b/frc971/control_loops/profiled_subsystem.h
index 1fa8ac2..2a15201 100644
--- a/frc971/control_loops/profiled_subsystem.h
+++ b/frc971/control_loops/profiled_subsystem.h
@@ -61,8 +61,9 @@
}
// Returns the controller.
- const StateFeedbackLoop<number_of_states, number_of_inputs, number_of_outputs>
- &controller() const {
+ const StateFeedbackLoop<number_of_states, number_of_inputs,
+ number_of_outputs> &
+ controller() const {
return *loop_;
}
diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index 295beca..c5d05c1 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -144,8 +144,8 @@
return coefficients().U_max;
}
Scalar U_max(int i, int j = 0) const { return U_max()(i, j); }
- const Eigen::Matrix<Scalar, number_of_inputs, number_of_states>
- &U_limit_coefficient() const {
+ const Eigen::Matrix<Scalar, number_of_inputs, number_of_states> &
+ U_limit_coefficient() const {
return coefficients().U_limit_coefficient;
}
Scalar U_limit_coefficient(int i, int j) const {
@@ -173,14 +173,14 @@
size_t coefficients_size() const { return coefficients_.size(); }
const StateFeedbackPlantCoefficients<number_of_states, number_of_inputs,
- number_of_outputs, Scalar>
- &coefficients(int index) const {
+ number_of_outputs, Scalar> &
+ coefficients(int index) const {
return *coefficients_[index];
}
const StateFeedbackPlantCoefficients<number_of_states, number_of_inputs,
- number_of_outputs, Scalar>
- &coefficients() const {
+ number_of_outputs, Scalar> &
+ coefficients() const {
return *coefficients_[index_];
}
@@ -326,14 +326,14 @@
int index() const { return index_; }
const StateFeedbackControllerCoefficients<number_of_states, number_of_inputs,
- number_of_outputs, Scalar>
- &coefficients(int index) const {
+ number_of_outputs, Scalar> &
+ coefficients(int index) const {
return *coefficients_[index];
}
const StateFeedbackControllerCoefficients<number_of_states, number_of_inputs,
- number_of_outputs, Scalar>
- &coefficients() const {
+ number_of_outputs, Scalar> &
+ coefficients() const {
return *coefficients_[index_];
}
@@ -450,14 +450,14 @@
int index() const { return index_; }
const StateFeedbackObserverCoefficients<number_of_states, number_of_inputs,
- number_of_outputs, Scalar>
- &coefficients(int index) const {
+ number_of_outputs, Scalar> &
+ coefficients(int index) const {
return *coefficients_[index];
}
const StateFeedbackObserverCoefficients<number_of_states, number_of_inputs,
- number_of_outputs, Scalar>
- &coefficients() const {
+ number_of_outputs, Scalar> &
+ coefficients() const {
return *coefficients_[index_];
}
@@ -550,8 +550,8 @@
PlantType *mutable_plant() { return &plant_; }
const StateFeedbackController<number_of_states, number_of_inputs,
- number_of_outputs, Scalar>
- &controller() const {
+ number_of_outputs, Scalar> &
+ controller() const {
return controller_;
}