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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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21
wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
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@@ -6,7 +6,6 @@
#include <wpi/MathExtras.h>
#include "frc/StateSpaceUtil.h"
#include "frc/system/NumericalIntegration.h"
#include "frc/system/plant/LinearSystemId.h"
@@ -79,25 +78,25 @@ units::ampere_t ElevatorSim::GetCurrentDraw() const {
}
void ElevatorSim::SetInputVoltage(units::volt_t voltage) {
SetInput(frc::MakeMatrix<1, 1>(voltage.to<double>()));
SetInput(Eigen::Vector<double, 1>{voltage.to<double>()});
}
Eigen::Matrix<double, 2, 1> ElevatorSim::UpdateX(
const Eigen::Matrix<double, 2, 1>& currentXhat,
const Eigen::Matrix<double, 1, 1>& u, units::second_t dt) {
Eigen::Vector<double, 2> ElevatorSim::UpdateX(
const Eigen::Vector<double, 2>& currentXhat,
const Eigen::Vector<double, 1>& u, units::second_t dt) {
auto updatedXhat = RKDP(
[&](const Eigen::Matrix<double, 2, 1>& x,
const Eigen::Matrix<double, 1, 1>& u_)
-> Eigen::Matrix<double, 2, 1> {
return m_plant.A() * x + m_plant.B() * u_ + MakeMatrix<2, 1>(0.0, -9.8);
[&](const Eigen::Vector<double, 2>& x,
const Eigen::Vector<double, 1>& u_) -> Eigen::Vector<double, 2> {
return m_plant.A() * x + m_plant.B() * u_ +
Eigen::Vector<double, 2>{0.0, -9.8};
},
currentXhat, u, dt);
// Check for collision after updating x-hat.
if (WouldHitLowerLimit(units::meter_t(updatedXhat(0)))) {
return MakeMatrix<2, 1>(m_minHeight.to<double>(), 0.0);
return Eigen::Vector<double, 2>{m_minHeight.to<double>(), 0.0};
}
if (WouldHitUpperLimit(units::meter_t(updatedXhat(0)))) {
return MakeMatrix<2, 1>(m_maxHeight.to<double>(), 0.0);
return Eigen::Vector<double, 2>{m_maxHeight.to<double>(), 0.0};
}
return updatedXhat;
}