Update NumericalIntegration.h

Advay17 · Nov 12, 2024 · 64656b0 · 64656b0
1 parent 9834cf7
commit 64656b0
Showing 1 changed file with 21 additions and 14 deletions.
diff --git a/wpimath/src/main/native/include/frc/system/NumericalIntegration.h b/wpimath/src/main/native/include/frc/system/NumericalIntegration.h
@@ -265,11 +265,15 @@ T Tsit5(F&& f, T x, U u, units::second_t dt, double maxError = 1e-6) {
       { 0.09646076681806523,                   0.01,   0.4798896504144996,     1.379008574103742,    -3.290069515436081, 2.324710524099774}};
   // clang-format on
 
-  constexpr std::array<double, kDim> b1{
-      0.09646076681806523, 0.01, 0.4798896504144996, 1.379008574103742, -3.290069515436081,
-      2.324710524099774,  0.0};
-  constexpr std::array<double, kDim> b2{0.001780011052226,     0.000816434459657,
-                                        -0.007880878010262,    0.144711007173263,
+  constexpr std::array<double, kDim> b1{0.09646076681806523,
+                                        0.01,
+                                        0.4798896504144996,
+                                        1.379008574103742,
+                                        -3.290069515436081,
+                                        2.324710524099774,
+                                        0.0};
+  constexpr std::array<double, kDim> b2{0.001780011052226,  0.000816434459657,
+                                        -0.007880878010262, 0.144711007173263,
                                         -0.582357165452555, 0.458082105929187,
                                         1.0 / 66.0};
 
@@ -333,7 +337,7 @@ T Tsit5(F&& f, T x, U u, units::second_t dt, double maxError = 1e-6) {
  */
 template <typename F, typename T>
 T Tsit5(F&& f, units::second_t t, T y, units::second_t dt,
-       double maxError = 1e-6) {
+        double maxError = 1e-6) {
   // See http://users.uoa.gr/~tsitourasc/RK54_new_v2.pdf for the
   // Butcher tableau the following arrays came from.
 
@@ -349,16 +353,20 @@ T Tsit5(F&& f, units::second_t t, T y, units::second_t dt,
         { 0.09646076681806523,                   0.01,   0.4798896504144996,     1.379008574103742,    -3.290069515436081, 2.324710524099774}};
   // clang-format on
 
-  constexpr std::array<double, kDim> b1{
-        0.09646076681806523, 0.01, 0.4798896504144996, 1.379008574103742, -3.290069515436081,
-        2.324710524099774,  0.0};
-  constexpr std::array<double, kDim> b2{0.001780011052226,     0.000816434459657,
-                                        -0.007880878010262,    0.144711007173263,
+  constexpr std::array<double, kDim> b1{0.09646076681806523,
+                                        0.01,
+                                        0.4798896504144996,
+                                        1.379008574103742,
+                                        -3.290069515436081,
+                                        2.324710524099774,
+                                        0.0};
+  constexpr std::array<double, kDim> b2{0.001780011052226,  0.000816434459657,
+                                        -0.007880878010262, 0.144711007173263,
                                         -0.582357165452555, 0.458082105929187,
                                         1.0 / 66.0};
 
-  constexpr std::array<double, kDim - 1> c{0.161, 0.327, 0.9,
-                                           0.9800255409045097, 1.0, 1.0};
+  constexpr std::array<double, kDim - 1> c{
+      0.161, 0.327, 0.9, 0.9800255409045097, 1.0, 1.0};
 
   T newY;
   double truncationError;
@@ -404,4 +412,3 @@ T Tsit5(F&& f, units::second_t t, T y, units::second_t dt,
 }
 
 }  // namespace frc
-