commit c36b25f8b0c1f3102cbcb0b2257f12981f60008c
author Austin Schuh <austin.linux@gmail.com> Sat Mar 02 21:03:42 2019 -0800
committer Gerrit Code Review <gerrit@robotics.mvla.net> Sat Mar 02 21:03:42 2019 -0800
tree 6dbb2894b5255469995b6b6f9192575500a6b6cf
parent f3fce13d47869aa0bd5678b746d3c64ceb929a91
parent 4b9c531dff211109933731641054a00bbb040091

Merge "Fix typo in libspline that led to no xva plan"

frc971/control_loops/drivetrain/libspline.cc

diff --git a/frc971/control_loops/drivetrain/libspline.cc b/frc971/control_loops/drivetrain/libspline.cc
index f931e59..1d7aa0b 100644
--- a/frc971/control_loops/drivetrain/libspline.cc
+++ b/frc971/control_loops/drivetrain/libspline.cc
@@ -197,9 +197,9 @@
   void TrajectoryGetPlanXVA(::std::vector<::Eigen::Matrix<double, 3, 1>> *vec,
                             double *X, double *V, double *A) {
     for (size_t i = 0; i < vec->size(); ++i) {
-      X[i] = (*vec)[0][0];
-      V[i] = (*vec)[0][1];
-      A[i] = (*vec)[0][2];
+      X[i] = (*vec)[i][0];
+      V[i] = (*vec)[i][1];
+      A[i] = (*vec)[i][2];
     }
   }