Made StateFeedbackControllerConstants just a set of constants.
Change-Id: I0b7de27749f28ba75349cd8c6b3a80036f3dc04c
diff --git a/y2016/control_loops/superstructure/superstructure_controls.h b/y2016/control_loops/superstructure/superstructure_controls.h
index 8f3a59e..6f853d6 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.h
+++ b/y2016/control_loops/superstructure/superstructure_controls.h
@@ -28,12 +28,12 @@
const Eigen::Matrix<double, 2, 1> ControllerOutput() override {
const Eigen::Matrix<double, 2, 1> accelerating_ff =
- controller(0).Kff * (next_R() - controller(0).plant.A() * R());
+ controller(0).Kff * (next_R() - controller(0).plant.A * R());
const Eigen::Matrix<double, 2, 1> accelerating_controller =
controller(0).K * error() + accelerating_ff;
const Eigen::Matrix<double, 2, 1> decelerating_ff =
- controller(1).Kff * (next_R() - controller(1).plant.A() * R());
+ controller(1).Kff * (next_R() - controller(1).plant.A * R());
const Eigen::Matrix<double, 2, 1> decelerating_controller =
controller(1).K * error() + decelerating_ff;