Move y2020 localizer to use floats
This change seems to save ~20-30% of the current drivetrain CPU usage.
I experimented with changing the down estimator to use floats, but the
effects were negligible.
Change-Id: I19edb0431ba03414a890342122db781dc6a7ed51
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index a33ff22..3f553bb 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -101,8 +101,8 @@
// frame.
// I.e., imu_transform * imu_readings will give the imu readings in the
// robot frame.
- Eigen::Matrix<double, 3, 3> imu_transform =
- Eigen::Matrix<double, 3, 3>::Identity();
+ Eigen::Matrix<Scalar, 3, 3> imu_transform =
+ Eigen::Matrix<Scalar, 3, 3>::Identity();
// True if we are running a simulated drivetrain.
bool is_simulated = false;