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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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18
wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
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@@ -80,7 +80,7 @@ class DifferentialDrivetrainSim {
* @param maxVoltage The maximum voltage.
* @return The normalized input.
*/
Eigen::Matrix<double, 2, 1> ClampInput(Eigen::Matrix<double, 2, 1> u);
Eigen::Vector<double, 2> ClampInput(const Eigen::Vector<double, 2>& u);
/**
* Sets the applied voltage to the drivetrain. Note that positive voltage must
@@ -178,7 +178,7 @@ class DifferentialDrivetrainSim {
*
* @param state The state.
*/
void SetState(const Eigen::Matrix<double, 7, 1>& state);
void SetState(const Eigen::Vector<double, 7>& state);
/**
* Sets the system pose.
@@ -187,8 +187,8 @@ class DifferentialDrivetrainSim {
*/
void SetPose(const frc::Pose2d& pose);
Eigen::Matrix<double, 7, 1> Dynamics(const Eigen::Matrix<double, 7, 1>& x,
const Eigen::Matrix<double, 2, 1>& u);
Eigen::Vector<double, 7> Dynamics(const Eigen::Vector<double, 7>& x,
const Eigen::Vector<double, 2>& u);
class State {
public:
@@ -295,7 +295,7 @@ class DifferentialDrivetrainSim {
/**
* Returns the current output vector y.
*/
Eigen::Matrix<double, 7, 1> GetOutput() const;
Eigen::Vector<double, 7> GetOutput() const;
/**
* Returns an element of the state vector. Note that this will not include
@@ -308,7 +308,7 @@ class DifferentialDrivetrainSim {
/**
* Returns the current state vector x. Note that this will not include noise!
*/
Eigen::Matrix<double, 7, 1> GetState() const;
Eigen::Vector<double, 7> GetState() const;
LinearSystem<2, 2, 2> m_plant;
units::meter_t m_rb;
@@ -319,9 +319,9 @@ class DifferentialDrivetrainSim {
double m_originalGearing;
double m_currentGearing;
Eigen::Matrix<double, 7, 1> m_x;
Eigen::Matrix<double, 2, 1> m_u;
Eigen::Matrix<double, 7, 1> m_y;
Eigen::Vector<double, 7> m_x;
Eigen::Vector<double, 2> m_u;
Eigen::Vector<double, 7> m_y;
std::array<double, 7> m_measurementStdDevs;
};
} // namespace frc::sim