Reduce mallocs when constructing trajectories
We are mostly allocating because we are lazy. Allocate some of the data
up front and pass around pointers, and use spans to represent the rest
of the data and either point it at vectors, or at the underlying
flatbuffer.
Change-Id: I819dfaa85bc1ba9895eb92efc74a1540d93a6c38
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.h b/frc971/control_loops/drivetrain/splinedrivetrain.h
index 303701f..390236b 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.h
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.h
@@ -88,6 +88,11 @@
const DrivetrainConfig<double> dt_config_;
+ std::shared_ptr<
+ StateFeedbackLoop<2, 2, 2, double, StateFeedbackHybridPlant<2, 2, 2>,
+ HybridKalman<2, 2, 2>>>
+ velocity_drivetrain_;
+
bool executing_spline_ = false;
// TODO(james): Sort out construction to avoid so much dynamic memory