commit c7a0a3da74a137c6c0a9757fec0fb2ca978a959c
author Austin Schuh <austin.linux@gmail.com> Sat Oct 15 16:22:47 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Oct 29 13:49:17 2016 -0700
tree fd54badbdc6b6c98d963f54fd3ba7ac2c3061aae
parent e5f194c6c20dcb61aea387f401f16facb125edc9

Removed mallocs from polydrive code

Since most of the places where we create a polytope are just affine
transformations of another polytope, we can transform the original
vertices to avoid needing libcdd at runtime.  This is in preparation
for the battlebot.

Change-Id: Ic35af2d918095dc23b90a4ab248d0c142cf3588a

frc971/control_loops/coerce_goal.h

diff --git a/frc971/control_loops/coerce_goal.h b/frc971/control_loops/coerce_goal.h
index 3933050..83c401d 100644
--- a/frc971/control_loops/coerce_goal.h
+++ b/frc971/control_loops/coerce_goal.h
@@ -8,21 +8,19 @@
 namespace frc971 {
 namespace control_loops {
 
-Eigen::Matrix<double, 2, 1> DoCoerceGoal(const aos::controls::HPolytope<2> &region,
-                                         const Eigen::Matrix<double, 1, 2> &K,
-                                         double w,
-                                         const Eigen::Matrix<double, 2, 1> &R,
-                                         bool *is_inside);
+Eigen::Matrix<double, 2, 1> DoCoerceGoal(
+    const aos::controls::HVPolytope<2, 4, 4> &region,
+    const Eigen::Matrix<double, 1, 2> &K, double w,
+    const Eigen::Matrix<double, 2, 1> &R, bool *is_inside);
 
 // Intersects a line with a region, and finds the closest point to R.
 // Finds a point that is closest to R inside the region, and on the line
 // defined by K X = w.  If it is not possible to find a point on the line,
 // finds a point that is inside the region and closest to the line.
-static inline Eigen::Matrix<double, 2, 1>
-    CoerceGoal(const aos::controls::HPolytope<2> &region,
-               const Eigen::Matrix<double, 1, 2> &K,
-               double w,
-               const Eigen::Matrix<double, 2, 1> &R) {
+static inline Eigen::Matrix<double, 2, 1> CoerceGoal(
+    const aos::controls::HVPolytope<2, 4, 4> &region,
+    const Eigen::Matrix<double, 1, 2> &K, double w,
+    const Eigen::Matrix<double, 2, 1> &R) {
   return DoCoerceGoal(region, K, w, R, nullptr);
 }