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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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6
wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
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@@ -123,9 +123,9 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
* @param u The system inputs (voltage).
* @param dt The time difference between controller updates.
*/
Eigen::Matrix<double, 2, 1> UpdateX(
const Eigen::Matrix<double, 2, 1>& currentXhat,
const Eigen::Matrix<double, 1, 1>& u, units::second_t dt) override;
Eigen::Vector<double, 2> UpdateX(const Eigen::Vector<double, 2>& currentXhat,
const Eigen::Vector<double, 1>& u,
units::second_t dt) override;
private:
DCMotor m_gearbox;