Dev

[Rui-Xiaoyu]

Summary by Sourcery

Reformat RLS and power control code and adjust the power control public API to expose capacitor energy instead of percentage.

New Features:

• Expose capacitor energy from PowerControl via a new getter, replacing the previous percentage-based accessor.

Enhancements:

• Improve code formatting and include ordering in RLS and PowerControl to match style guidelines.

[sourcery-ai]

Reviewer's guide (collapsed on small PRs)

Reviewer's Guide

This PR applies code style cleanups in the RLS update routine, normalizes include ordering, tidies loop body indentation for 3508 motor power calculations, and renames a power status accessor from percentage to capacitor energy to better reflect its semantics.

Class diagram for updated RLS and PowerControl interfaces

classDiagram
  class RLS {
    +Update(sample_vector : ParamVector, actual_output : float) const ParamVector&
    -gainvector_ : ParamVector
    -transmatrix_ : Matrix
    -paramsvector_ : ParamVector
    -lambda_ : float
  }

  class LibXR_Application {
  }

  class SuperPower {
    +GetCapEnergy() float
    +IsOnline() bool
  }

  class PowerControl {
    +GetMeasuredPower() float
    +GetCapEnergy() float
    +IsOnline() bool
    -superpower_ : SuperPower*
    -motor_count_3508_ : int
    -samples_3508_ : Matrix
    -output_current_3508_ : float[]
    -rotorspeed_rpm_3508_ : float[]
    -kt_3508_ : float
  }

  PowerControl --|> LibXR_Application
  PowerControl --> SuperPower

Loading

File-Level Changes

Change	Details	Files
Reformat the RLS::Update method for readability without changing its logic.	Reflow the computation of gainvector_ into a multi-line expression with clearer operator grouping. Reindent the parameter update expression for paramsvector_. Reformat the transmatrix_ update into a multi-line expression while preserving the original recursive least squares math. Fix comment indentation and alignment in the Update method documentation block.	RLS.hpp
Normalize includes, loop indentation, and accessor naming in power control code.	Move Eigen/Core include above standard library headers to comply with preferred include ordering. Adjust indentation in the 3508 motor loop when accumulating sample terms to match project style. Change the public accessor from GetPercent() to GetCapEnergy() and update its implementation to call superpower_->GetCapEnergy() instead of GetPercentage().	PowerControl.hpp

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[sourcery-ai]

Hey - I've left some high level feedback:

• In RLS::Update, the nested expression for gainvector_ is now quite long; consider extracting the scalar denominator and intermediate (sample_vector.transpose() * transmatrix_ * sample_vector)(0, 0) into named variables to improve readability and make the update formula easier to verify.
• Changing GetPercent() to GetCapEnergy() and switching from GetPercentage() to GetCapEnergy() in PowerControl alters the public API and semantics; if this class is used externally, consider keeping the old method as a wrapper or clearly separating the two accessors to avoid breaking existing callers and to make the intent of each clearer.

Prompt for AI Agents

Please address the comments from this code review:

## Overall Comments
- In `RLS::Update`, the nested expression for `gainvector_` is now quite long; consider extracting the scalar denominator and intermediate `(sample_vector.transpose() * transmatrix_ * sample_vector)(0, 0)` into named variables to improve readability and make the update formula easier to verify.
- Changing `GetPercent()` to `GetCapEnergy()` and switching from `GetPercentage()` to `GetCapEnergy()` in `PowerControl` alters the public API and semantics; if this class is used externally, consider keeping the old method as a wrapper or clearly separating the two accessors to avoid breaking existing callers and to make the intent of each clearer.

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