format some more

This commit is contained in:
Prateek Machiraju 2019-06-26 15:03:11 -04:00
parent a82f472559
commit 103333f9f0
23 changed files with 38 additions and 39 deletions

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@ -27,4 +27,4 @@ bool EpsilonEquals(const T& a, const T& b) {
return std::abs(a - b) < kEpsilon;
}
} // namespace frc5190
} // namespace fl

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@ -9,7 +9,6 @@ class RamseteTracker : public TrajectoryTracker {
TrajectoryTrackerVelocityOutput CalculateState(const TimedIterator<Pose2dWithCurvature>& iterator,
const Pose2d& robot_pose) const override {
const TimedEntry<Pose2dWithCurvature> reference_state = iterator.CurrentState().state;
const Pose2d error = reference_state.State().Pose().InFrameOfReferenceOf(robot_pose);
@ -36,4 +35,4 @@ class RamseteTracker : public TrajectoryTracker {
double beta_;
double zeta_;
};
} // namespace frc5190
} // namespace fl

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@ -63,4 +63,4 @@ class TrajectoryTracker {
std::unique_ptr<TrajectoryTrackerVelocityOutput> previous_velocity_;
double previous_time_ = -1.;
};
} // namespace frc5190
} // namespace fl

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@ -1,9 +1,9 @@
#pragma once
#include "fl/Utilities.h"
#include "Rotation2d.h"
#include "Translation2d.h"
#include "Twist2d.h"
#include "fl/Utilities.h"
namespace fl {
class Twist2d;
@ -103,4 +103,4 @@ class Pose2d final : public VaryInterpolatable<Pose2d> {
Translation2d translation_;
Rotation2d rotation_;
};
} // namespace frc5190
} // namespace fl

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@ -37,4 +37,4 @@ class Pose2dWithCurvature final : public VaryInterpolatable<Pose2dWithCurvature>
double curvature_;
double dkds_;
};
} // namespace frc5190
} // namespace fl

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@ -52,4 +52,4 @@ class Rotation2d final {
double cos_;
double sin_;
};
} // namespace frc5190
} // namespace fl

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@ -2,8 +2,8 @@
#include <cmath>
#include "fl/types/VaryInterpolatable.h"
#include "Rotation2d.h"
#include "fl/types/VaryInterpolatable.h"
namespace fl {
@ -58,4 +58,4 @@ class Translation2d final : public VaryInterpolatable<Translation2d> {
double x_;
double y_;
};
} // namespace frc5190
} // namespace fl

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@ -27,4 +27,4 @@ class Twist2d {
double dy_;
double dtheta_;
};
} // namespace frc5190
} // namespace fl

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@ -104,4 +104,4 @@ class ParametricQuinticHermiteSpline final : public ParametricSpline {
return radians;
}
};
} // namespace frc5190
} // namespace fl

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@ -17,4 +17,4 @@ class ParametricSpline {
private:
Pose2d Pose(const double t) const { return Pose2d{Point(t), Heading(t)}; }
};
} // namespace frc5190
} // namespace fl

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@ -1,10 +1,10 @@
#pragma once
#include <vector>
#include <memory>
#include <vector>
#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
#include "ParametricSpline.h"
#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
namespace fl {
constexpr static double kMinSampleSize = 1.;
@ -62,4 +62,4 @@ class SplineGenerator {
}
}
};
} // namespace frc5190
} // namespace fl

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@ -66,4 +66,4 @@ class DistanceTrajectory : public Trajectory<double, S> {
std::vector<S> points_;
std::shared_ptr<DistanceIterator<S>> iterator_;
};
} // namespace frc5190
} // namespace fl

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@ -65,4 +65,4 @@ class IndexedTrajectory : public Trajectory<double, S> {
std::shared_ptr<TrajectoryIterator<double, S>> iterator_;
};
} // namespace frc5190
} // namespace fl

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@ -1,7 +1,7 @@
#pragma once
#include "fl/types/VaryInterpolatable.h"
#include "TrajectoryIterator.h"
#include "fl/types/VaryInterpolatable.h"
namespace fl {
template <typename S>
@ -97,4 +97,4 @@ class TimedTrajectory : public Trajectory<double, TimedEntry<S>> {
std::shared_ptr<TrajectoryIterator<double, TimedEntry<S>>> iterator_;
};
} // namespace frc5190
} // namespace fl

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@ -49,4 +49,4 @@ class Trajectory {
virtual S LastState() const = 0;
};
} // namespace frc5190
} // namespace fl

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@ -2,13 +2,13 @@
#include <array>
#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
#include "fl/mathematics/spline/ParametricQuinticHermiteSpline.h"
#include "fl/mathematics/spline/SplineGenerator.h"
#include "DistanceTrajectory.h"
#include "IndexedTrajectory.h"
#include "TimedTrajectory.h"
#include "constraints/TimingConstraint.h"
#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
#include "fl/mathematics/spline/ParametricQuinticHermiteSpline.h"
#include "fl/mathematics/spline/SplineGenerator.h"
namespace fl {
@ -256,4 +256,4 @@ class TrajectoryGenerator {
return TimedTrajectory<S>(timed_states, reversed);
}
};
} // namespace frc5190
} // namespace fl

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@ -1,7 +1,7 @@
#pragma once
#include "fl/Utilities.h"
#include "Trajectory.h"
#include "fl/Utilities.h"
namespace fl {
template <typename U, typename S>
@ -40,4 +40,4 @@ class TrajectoryIterator {
U progress_;
TrajectorySamplePoint<S> sample_;
};
} // namespace frc5190
} // namespace fl

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@ -1,7 +1,7 @@
#pragma once
#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
#include "TimingConstraint.h"
#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
namespace fl {
@ -23,7 +23,7 @@ class AngularAccelerationConstraint final : public TimingConstraint<Pose2dWithCu
}
fl::MinMaxAcceleration MinMaxAcceleration(const Pose2dWithCurvature& state,
double velocity) const override {
double velocity) const override {
/**
* We want to limit the acceleration such that we never go above the
* specified angular acceleration.
@ -62,4 +62,4 @@ class AngularAccelerationConstraint final : public TimingConstraint<Pose2dWithCu
double max_angular_acceleration_;
};
} // namespace frc5190
} // namespace fl

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@ -1,7 +1,7 @@
#pragma once
#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
#include "TimingConstraint.h"
#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
namespace fl {
@ -17,7 +17,7 @@ class CentripetalAccelerationConstraint final : public TimingConstraint<Pose2dWi
}
fl::MinMaxAcceleration MinMaxAcceleration(const Pose2dWithCurvature& state,
double velocity) const override {
double velocity) const override {
return kNoLimits;
}
@ -25,4 +25,4 @@ class CentripetalAccelerationConstraint final : public TimingConstraint<Pose2dWi
double max_centripetal_acceleration_;
};
} // namespace frc5190
} // namespace fl

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@ -21,4 +21,4 @@ class TimingConstraint {
virtual double MaxVelocity(const S& state) const = 0;
virtual MinMaxAcceleration MinMaxAcceleration(const S& state, double velocity) const = 0;
};
} // namespace frc5190
} // namespace fl

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@ -1,7 +1,7 @@
#pragma once
#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
#include "TimingConstraint.h"
#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
namespace fl {
@ -20,7 +20,7 @@ class VelocityLimitRadiusConstraint : public TimingConstraint<Pose2dWithCurvatur
}
fl::MinMaxAcceleration MinMaxAcceleration(const Pose2dWithCurvature& state,
double velocity) const override {
double velocity) const override {
return kNoLimits;
}
@ -30,4 +30,4 @@ class VelocityLimitRadiusConstraint : public TimingConstraint<Pose2dWithCurvatur
double max_velocity_;
};
} // namespace frc5190
} // namespace fl

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@ -13,4 +13,4 @@ class Interpolatable {
return start_value + (end_value - start_value) * Clamp(t, 0.0, 1.0);
}
};
} // namespace frc5190
} // namespace fl

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@ -8,4 +8,4 @@ class VaryInterpolatable : public Interpolatable<T> {
public:
virtual double Distance(const T& other) const = 0;
};
} // namespace frc5190
} // namespace fl