commit 6175066e4d1294c9b2e4e49ea22b3bb7bd7ee41c
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Mon Jun 21 21:32:33 2021 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Sun Jun 27 13:50:16 2021 -0700
tree 734cf51117459826d67457d6d35637887f4a8f38
parent eeaaed70bebee707f88cfd9159138e5041948569

Move aos/controls to frc971/control_loops

Also put what was aos/controls/control_loops.fbs in y2012/control_loops
because that's the only user.

Change-Id: I8f402b0708103077e135a41e55ef5e4f23681d87
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

frc971/control_loops/drivetrain/polydrivetrain.h

diff --git a/frc971/control_loops/drivetrain/polydrivetrain.h b/frc971/control_loops/drivetrain/polydrivetrain.h
index fe733bb..aea030e 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.h
+++ b/frc971/control_loops/drivetrain/polydrivetrain.h
@@ -2,7 +2,7 @@
 #define FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
 
 #include "aos/commonmath.h"
-#include "aos/controls/polytope.h"
+#include "frc971/control_loops/polytope.h"
 #include "frc971/control_loops/coerce_goal.h"
 #include "frc971/control_loops/drivetrain/gear.h"
 #ifdef __linux__
@@ -80,7 +80,7 @@
 
   StateFeedbackLoop<7, 2, 4, Scalar> *kf_;
 
-  const ::aos::controls::HVPolytope<2, 4, 4, Scalar> U_Poly_;
+  const ::frc971::controls::HVPolytope<2, 4, 4, Scalar> U_Poly_;
 
   ::std::unique_ptr<StateFeedbackLoop<2, 2, 2, Scalar>> loop_;
 
@@ -340,12 +340,12 @@
       const Scalar equality_w = kZero;
 
       // Construct a constraint on R by manipulating the constraint on U
-      ::aos::controls::HVPolytope<2, 4, 4, Scalar> R_poly_hv(
+      ::frc971::controls::HVPolytope<2, 4, 4, Scalar> R_poly_hv(
           U_Poly_.static_H() * (loop_->controller().K() + FF),
           U_Poly_.static_k() +
               U_Poly_.static_H() * loop_->controller().K() * loop_->X_hat(),
           (loop_->controller().K() + FF).inverse() *
-              ::aos::controls::ShiftPoints<2, 4, Scalar>(
+              ::frc971::controls::ShiftPoints<2, 4, Scalar>(
                   U_Poly_.StaticVertices(),
                   loop_->controller().K() * loop_->X_hat()));