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[wpimath] Clean up Eigen usage

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* Replace Matrix<> with Vector<> where vectors are explicitly intended.
  I found these via `rg "Eigen::Matrix<double, \w+, 1>"`.
* Pass all Eigen matrices by const reference. I found these via `rg
  "\(Eigen"` on main (the initializer list constructors make more false
  positives).
* Replace MakeMatrix() and operator<< usage with initializer list
  constructors. I found these via `rg MakeMatrix` and `rg "<<"`
  respectively.
* Deprecate MakeMatrix()
This commit is contained in:
Tyler Veness
2021-08-19 00:23:48 -07:00
committed by Peter Johnson
parent 72716f51ce
commit 9359431bad
63 changed files with 821 additions and 955 deletions
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17
wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
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@@ -41,8 +41,8 @@ DifferentialDrivetrainSim::DifferentialDrivetrainSim(
driveMotor, mass, wheelRadius, trackWidth / 2.0, J, gearing),
trackWidth, driveMotor, gearing, wheelRadius, measurementStdDevs) {}
Eigen::Matrix<double, 2, 1> DifferentialDrivetrainSim::ClampInput(
Eigen::Matrix<double, 2, 1> u) {
Eigen::Vector<double, 2> DifferentialDrivetrainSim::ClampInput(
const Eigen::Vector<double, 2>& u) {
return frc::NormalizeInputVector<2>(u,
frc::RobotController::GetInputVoltage());
}
@@ -66,11 +66,11 @@ double DifferentialDrivetrainSim::GetGearing() const {
return m_currentGearing;
}
Eigen::Matrix<double, 7, 1> DifferentialDrivetrainSim::GetOutput() const {
Eigen::Vector<double, 7> DifferentialDrivetrainSim::GetOutput() const {
return m_y;
}
Eigen::Matrix<double, 7, 1> DifferentialDrivetrainSim::GetState() const {
Eigen::Vector<double, 7> DifferentialDrivetrainSim::GetState() const {
return m_x;
}
@@ -117,7 +117,7 @@ units::ampere_t DifferentialDrivetrainSim::GetCurrentDraw() const {
}
void DifferentialDrivetrainSim::SetState(
const Eigen::Matrix<double, 7, 1>& state) {
const Eigen::Vector<double, 7>& state) {
m_x = state;
}
@@ -129,9 +129,8 @@ void DifferentialDrivetrainSim::SetPose(const frc::Pose2d& pose) {
m_x(State::kRightPosition) = 0;
}
Eigen::Matrix<double, 7, 1> DifferentialDrivetrainSim::Dynamics(
const Eigen::Matrix<double, 7, 1>& x,
const Eigen::Matrix<double, 2, 1>& u) {
Eigen::Vector<double, 7> DifferentialDrivetrainSim::Dynamics(
const Eigen::Vector<double, 7>& x, const Eigen::Vector<double, 2>& u) {
// Because G^2 can be factored out of A, we can divide by the old ratio
// squared and multiply by the new ratio squared to get a new drivetrain
// model.
@@ -150,7 +149,7 @@ Eigen::Matrix<double, 7, 1> DifferentialDrivetrainSim::Dynamics(
double v = (x(State::kLeftVelocity) + x(State::kRightVelocity)) / 2.0;
Eigen::Matrix<double, 7, 1> xdot;
Eigen::Vector<double, 7> xdot;
xdot(0) = v * std::cos(x(State::kHeading));
xdot(1) = v * std::sin(x(State::kHeading));
xdot(2) =