Use enums for drivetrain KF states
This makes things a lot easier to follow.
Change-Id: Ib3d2b60fd8f77851cf842340447d92905b69cb75
diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index 168df43..50edf0d 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -413,38 +413,38 @@
}
Scalar X_hat(int i, int j = 0) const { return X_hat()(i, j); }
const Eigen::Matrix<Scalar, number_of_states, 1> &R() const { return R_; }
- Scalar R(int i, int j) const { return R()(i, j); }
+ Scalar R(int i, int j = 0) const { return R()(i, j); }
const Eigen::Matrix<Scalar, number_of_states, 1> &next_R() const {
return next_R_;
}
- Scalar next_R(int i, int j) const { return next_R()(i, j); }
+ Scalar next_R(int i, int j = 0) const { return next_R()(i, j); }
const Eigen::Matrix<Scalar, number_of_inputs, 1> &U() const { return U_; }
- Scalar U(int i, int j) const { return U()(i, j); }
+ Scalar U(int i, int j = 0) const { return U()(i, j); }
const Eigen::Matrix<Scalar, number_of_inputs, 1> &U_uncapped() const {
return U_uncapped_;
}
- Scalar U_uncapped(int i, int j) const { return U_uncapped()(i, j); }
+ Scalar U_uncapped(int i, int j = 0) const { return U_uncapped()(i, j); }
const Eigen::Matrix<Scalar, number_of_inputs, 1> &ff_U() const {
return ff_U_;
}
- Scalar ff_U(int i, int j) const { return ff_U()(i, j); }
+ Scalar ff_U(int i, int j = 0) const { return ff_U()(i, j); }
Eigen::Matrix<Scalar, number_of_states, 1> &mutable_X_hat() {
return observer_.mutable_X_hat();
}
Scalar &mutable_X_hat(int i, int j = 0) { return mutable_X_hat()(i, j); }
Eigen::Matrix<Scalar, number_of_states, 1> &mutable_R() { return R_; }
- Scalar &mutable_R(int i, int j) { return mutable_R()(i, j); }
+ Scalar &mutable_R(int i, int j = 0) { return mutable_R()(i, j); }
Eigen::Matrix<Scalar, number_of_states, 1> &mutable_next_R() {
return next_R_;
}
- Scalar &mutable_next_R(int i, int j) { return mutable_next_R()(i, j); }
+ Scalar &mutable_next_R(int i, int j = 0) { return mutable_next_R()(i, j); }
Eigen::Matrix<Scalar, number_of_inputs, 1> &mutable_U() { return U_; }
- Scalar &mutable_U(int i, int j) { return mutable_U()(i, j); }
+ Scalar &mutable_U(int i, int j = 0) { return mutable_U()(i, j); }
Eigen::Matrix<Scalar, number_of_inputs, 1> &mutable_U_uncapped() {
return U_uncapped_;
}
- Scalar &mutable_U_uncapped(int i, int j) {
+ Scalar &mutable_U_uncapped(int i, int j = 0) {
return mutable_U_uncapped()(i, j);
}