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
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.h b/frc971/control_loops/drivetrain/ssdrivetrain.h
index 15a4823..c066c1b 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.h
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.h
@@ -63,7 +63,7 @@
// Reprsents +/- full power on each motor in U-space, aka the square from
// (-12, -12) to (12, 12).
- const ::aos::controls::HPolytope<2> U_poly_;
+ const ::aos::controls::HVPolytope<2, 4, 4> U_poly_;
// multiplying by T converts [left_error, right_error] to
// [left_right_error_difference, total_distance_error].