Clang-format drivetrain
Change-Id: I9e20a52ca97b968046969fa2c2e7f42b1fcbb1c3
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index 3f553bb..b5990c3 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -25,12 +25,12 @@
};
enum class GyroType : int32_t {
- SPARTAN_GYRO = 0, // Use the gyro on the spartan board.
- IMU_X_GYRO = 1, // Use the x-axis of the gyro on the IMU.
- IMU_Y_GYRO = 2, // Use the y-axis of the gyro on the IMU.
- IMU_Z_GYRO = 3, // Use the z-axis of the gyro on the IMU.
- FLIPPED_SPARTAN_GYRO = 4, // Use the gyro on the spartan board.
- FLIPPED_IMU_Z_GYRO = 5, // Use the flipped z-axis of the gyro on the IMU.
+ SPARTAN_GYRO = 0, // Use the gyro on the spartan board.
+ IMU_X_GYRO = 1, // Use the x-axis of the gyro on the IMU.
+ IMU_Y_GYRO = 2, // Use the y-axis of the gyro on the IMU.
+ IMU_Z_GYRO = 3, // Use the z-axis of the gyro on the IMU.
+ FLIPPED_SPARTAN_GYRO = 4, // Use the gyro on the spartan board.
+ FLIPPED_IMU_Z_GYRO = 5, // Use the flipped z-axis of the gyro on the IMU.
};
enum class IMUType : int32_t {
@@ -128,7 +128,8 @@
Eigen::Matrix<Scalar, 2, 2> Tlr_to_la() const {
return (::Eigen::Matrix<Scalar, 2, 2>() << 0.5, 0.5,
- -1.0 / (2 * robot_radius), 1.0 / (2 * robot_radius)).finished();
+ -1.0 / (2 * robot_radius), 1.0 / (2 * robot_radius))
+ .finished();
}
Eigen::Matrix<Scalar, 2, 2> Tla_to_lr() const {
@@ -140,8 +141,7 @@
Eigen::Matrix<Scalar, 4, 1> AngularLinearToLeftRight(
const Eigen::Matrix<Scalar, 2, 1> &linear,
const Eigen::Matrix<Scalar, 2, 1> &angular) const {
- Eigen::Matrix<Scalar, 2, 1> scaled_angle =
- angular * this->robot_radius;
+ Eigen::Matrix<Scalar, 2, 1> scaled_angle = angular * this->robot_radius;
Eigen::Matrix<Scalar, 4, 1> state;
state(0, 0) = linear(0, 0) - scaled_angle(0, 0);
state(1, 0) = linear(1, 0) - scaled_angle(1, 0);