Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-04 03:11:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Clean up Eigen usage

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files

29
wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
View File

@@ -40,9 +40,9 @@ class LinearSystemSim {
const LinearSystem<States, Inputs, Outputs>& system,
const std::array<double, Outputs>& measurementStdDevs = {})
: m_plant(system), m_measurementStdDevs(measurementStdDevs) {
m_x = Eigen::Matrix<double, States, 1>::Zero();
m_y = Eigen::Matrix<double, Outputs, 1>::Zero();
m_u = Eigen::Matrix<double, Inputs, 1>::Zero();
m_x = Eigen::Vector<double, States>::Zero();
m_y = Eigen::Vector<double, Outputs>::Zero();
m_u = Eigen::Vector<double, Inputs>::Zero();
}
/**
@@ -69,7 +69,7 @@ class LinearSystemSim {
*
* @return The current output of the plant.
*/
const Eigen::Matrix<double, Outputs, 1>& GetOutput() const { return m_y; }
const Eigen::Vector<double, Outputs>& GetOutput() const { return m_y; }
/**
* Returns an element of the current output of the plant.
@@ -84,9 +84,7 @@ class LinearSystemSim {
*
* @param u The system inputs.
*/
void SetInput(const Eigen::Matrix<double, Inputs, 1>& u) {
m_u = ClampInput(u);
}
void SetInput(const Eigen::Vector<double, Inputs>& u) { m_u = ClampInput(u); }
/*
* Sets the system inputs.
@@ -104,7 +102,7 @@ class LinearSystemSim {
*
* @param state The new state.
*/
void SetState(const Eigen::Matrix<double, States, 1>& state) { m_x = state; }
void SetState(const Eigen::Vector<double, States>& state) { m_x = state; }
/**
* Returns the current drawn by this simulated system. Override this method to
@@ -124,9 +122,9 @@ class LinearSystemSim {
* @param u The system inputs (usually voltage).
* @param dt The time difference between controller updates.
*/
virtual Eigen::Matrix<double, States, 1> UpdateX(
const Eigen::Matrix<double, States, 1>& currentXhat,
const Eigen::Matrix<double, Inputs, 1>& u, units::second_t dt) {
virtual Eigen::Vector<double, States> UpdateX(
const Eigen::Vector<double, States>& currentXhat,
const Eigen::Vector<double, Inputs>& u, units::second_t dt) {
return m_plant.CalculateX(currentXhat, u, dt);
}
@@ -137,17 +135,16 @@ class LinearSystemSim {
* @param u The input vector.
* @return The normalized input.
*/
Eigen::Matrix<double, Inputs, 1> ClampInput(
Eigen::Matrix<double, Inputs, 1> u) {
Eigen::Vector<double, Inputs> ClampInput(Eigen::Vector<double, Inputs> u) {
return frc::NormalizeInputVector<Inputs>(
u, frc::RobotController::GetInputVoltage());
}
LinearSystem<States, Inputs, Outputs> m_plant;
Eigen::Matrix<double, States, 1> m_x;
Eigen::Matrix<double, Outputs, 1> m_y;
Eigen::Matrix<double, Inputs, 1> m_u;
Eigen::Vector<double, States> m_x;
Eigen::Vector<double, Outputs> m_y;
Eigen::Vector<double, Inputs> m_u;
std::array<double, Outputs> m_measurementStdDevs;
};
} // namespace frc::sim