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[wpimath] Only compute eigenvalues with EigenSolvers (#5369)

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We don't need the eigenvectors, so we're doing a lot of extra work we
don't need to.
This commit is contained in:
Tyler Veness
2023-06-07 09:47:09 -07:00
committed by GitHub
parent d3c9316a97
commit 5acc5e22aa
5 changed files with 16 additions and 10 deletions
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3
wpimath/src/test/native/cpp/DARETest.cpp
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@@ -27,7 +27,8 @@ void ExpectMatrixEqual(const Eigen::MatrixXd& lhs, const Eigen::MatrixXd& rhs,
}
void ExpectPositiveSemidefinite(const Eigen::Ref<const Eigen::MatrixXd>& X) {
Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> eigX(X);
Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> eigX{X,
Eigen::EigenvaluesOnly};
for (int i = 0; i < X.rows(); ++i) {
EXPECT_GE(eigX.eigenvalues()[i], 0.0);
}

13
wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
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@@ -7,6 +7,7 @@
#include <functional>
#include "Eigen/Eigenvalues"
#include "Eigen/src/Core/util/Constants.h"
#include "frc/EigenCore.h"
#include "frc/system/Discretization.h"
#include "frc/system/NumericalIntegration.h"
@@ -126,7 +127,8 @@ TEST(DiscretizationTest, DiscretizeSlowModelAQTaylor) {
frc::Matrixd<2, 2> discATaylor;
// Continuous Q should be positive semidefinite
Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> esCont{contQ};
Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> esCont{contQ,
Eigen::EigenvaluesOnly};
for (int i = 0; i < contQ.rows(); ++i) {
EXPECT_GE(esCont.eigenvalues()[i], 0);
}
@@ -154,7 +156,8 @@ TEST(DiscretizationTest, DiscretizeSlowModelAQTaylor) {
EXPECT_LT((discA - discATaylor).norm(), 1e-10);
// Discrete Q should be positive semidefinite
Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> esDisc{discQTaylor};
Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> esDisc{discQTaylor,
Eigen::EigenvaluesOnly};
for (int i = 0; i < discQTaylor.rows(); ++i) {
EXPECT_GE(esDisc.eigenvalues()[i], 0);
}
@@ -172,7 +175,8 @@ TEST(DiscretizationTest, DiscretizeFastModelAQTaylor) {
frc::Matrixd<2, 2> discATaylor;
// Continuous Q should be positive semidefinite
Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> esCont(contQ);
Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> esCont{contQ,
Eigen::EigenvaluesOnly};
for (int i = 0; i < contQ.rows(); ++i) {
EXPECT_GE(esCont.eigenvalues()[i], 0);
}
@@ -200,7 +204,8 @@ TEST(DiscretizationTest, DiscretizeFastModelAQTaylor) {
EXPECT_LT((discA - discATaylor).norm(), 1e-10);
// Discrete Q should be positive semidefinite
Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> esDisc(discQTaylor);
Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> esDisc{discQTaylor,
Eigen::EigenvaluesOnly};
for (int i = 0; i < discQTaylor.rows(); ++i) {
EXPECT_GE(esDisc.eigenvalues()[i], 0);
}