commit b02bf5bbc787d82de986ec615e5196929b921e09
author Austin Schuh <austin.schuh@bluerivertech.com> Sat Jul 31 21:28:21 2021 -0700
committer Austin Schuh <austin.schuh@bluerivertech.com> Sat Jul 31 21:30:34 2021 -0700
tree 83f981806635a7c4970a170af70d253ceaf9e1fe
parent bf0609c03f766d55789b27e22ebd7b26b51acbb0

Sundry fixes to statespace controllers

1) Instead of taking a pointer to arguments, take a r value reference
   and move them.  Much more C++ like.
2) Some controllers don't want a fixed C, D, Q, and R.  There is no harm
   in allowing those to be passed in.  Expose that intermediate form.
3) We had uninitialized state variables.  Initialize them to something
   sane.

Change-Id: I00f90af7bb53bfd3385e3ebfda1c3c31600b7001
Signed-off-by: Austin Schuh <austin.schuh@bluerivertech.com>

frc971/control_loops/python/control_loop.py

diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index 74141c1..cea1fdd 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -216,7 +216,7 @@
                 fd.write('  plants[%d] = ::std::unique_ptr<%s>(new %s(%s));\n'
                          % (index, self._PlantCoeffType(),
                             self._PlantCoeffType(), loop.PlantFunction()))
-            fd.write('  return %s(&plants);\n' % self._PlantType())
+            fd.write('  return %s(std::move(plants));\n' % self._PlantType())
             fd.write('}\n\n')
 
             fd.write('%s Make%sController() {\n' % (self._ControllerType(),
@@ -229,7 +229,8 @@
                     '  controllers[%d] = ::std::unique_ptr<%s>(new %s(%s));\n'
                     % (index, self._ControllerCoeffType(),
                        self._ControllerCoeffType(), loop.ControllerFunction()))
-            fd.write('  return %s(&controllers);\n' % self._ControllerType())
+            fd.write('  return %s(std::move(controllers));\n' %
+                     self._ControllerType())
             fd.write('}\n\n')
 
             fd.write('%s Make%sObserver() {\n' % (self._ObserverType(),
@@ -241,7 +242,8 @@
                     '  observers[%d] = ::std::unique_ptr<%s>(new %s(%s));\n'
                     % (index, self._ObserverCoeffType(),
                        self._ObserverCoeffType(), loop.ObserverFunction()))
-            fd.write('  return %s(&observers);\n' % self._ObserverType())
+            fd.write(
+                '  return %s(std::move(observers));\n' % self._ObserverType())
             fd.write('}\n\n')
 
             fd.write('%s Make%sLoop() {\n' % (self._LoopType(),