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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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25
wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
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@@ -72,12 +72,12 @@ units::ampere_t SingleJointedArmSim::GetCurrentDraw() const {
}
void SingleJointedArmSim::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> SingleJointedArmSim::UpdateX(
const Eigen::Matrix<double, 2, 1>& currentXhat,
const Eigen::Matrix<double, 1, 1>& u, units::second_t dt) {
Eigen::Vector<double, 2> SingleJointedArmSim::UpdateX(
const Eigen::Vector<double, 2>& currentXhat,
const Eigen::Vector<double, 1>& u, units::second_t dt) {
// Horizontal case:
// Torque = F * r = I * alpha
// alpha = F * r / I
@@ -88,14 +88,15 @@ Eigen::Matrix<double, 2, 1> SingleJointedArmSim::UpdateX(
// We therefore find that f(x, u) = Ax + Bu + [[0] [m * g * r / I *
// std::cos(theta)]]
Eigen::Matrix<double, 2, 1> updatedXhat = RKDP(
[&](const auto& x, const auto& u) -> Eigen::Matrix<double, 2, 1> {
Eigen::Matrix<double, 2, 1> xdot = m_plant.A() * x + m_plant.B() * u;
Eigen::Vector<double, 2> updatedXhat = RKDP(
[&](const auto& x, const auto& u) -> Eigen::Vector<double, 2> {
Eigen::Vector<double, 2> xdot = m_plant.A() * x + m_plant.B() * u;
if (m_simulateGravity) {
xdot += MakeMatrix<2, 1>(0.0, (m_mass * m_r * -9.8 * 3.0 /
(m_mass * m_r * m_r) * std::cos(x(0)))
.template to<double>());
xdot += Eigen::Vector<double, 2>{
0.0, (m_mass * m_r * -9.8 * 3.0 / (m_mass * m_r * m_r) *
std::cos(x(0)))
.template to<double>()};
}
return xdot;
},
@@ -103,9 +104,9 @@ Eigen::Matrix<double, 2, 1> SingleJointedArmSim::UpdateX(
// Check for collisions.
if (WouldHitLowerLimit(units::radian_t(updatedXhat(0)))) {
return MakeMatrix<2, 1>(m_minAngle.to<double>(), 0.0);
return Eigen::Vector<double, 2>{m_minAngle.to<double>(), 0.0};
} else if (WouldHitUpperLimit(units::radian_t(updatedXhat(0)))) {
return MakeMatrix<2, 1>(m_maxAngle.to<double>(), 0.0);
return Eigen::Vector<double, 2>{m_maxAngle.to<double>(), 0.0};
}
return updatedXhat;
}