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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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9
wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp
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@@ -30,11 +30,10 @@ TEST(DifferentialDriveSim, Convergence) {
frc::LinearPlantInversionFeedforward feedforward{plant, 20_ms};
frc::RamseteController ramsete;
feedforward.Reset(frc::MakeMatrix<2, 1>(0.0, 0.0));
feedforward.Reset(Eigen::Vector<double, 2>{0.0, 0.0});
// Ground truth.
Eigen::Matrix<double, 7, 1> groundTruthX =
Eigen::Matrix<double, 7, 1>::Zero();
Eigen::Vector<double, 7> groundTruthX = Eigen::Vector<double, 7>::Zero();
frc::TrajectoryConfig config{1_mps, 1_mps_sq};
config.AddConstraint(
@@ -50,7 +49,7 @@ TEST(DifferentialDriveSim, Convergence) {
auto [l, r] = kinematics.ToWheelSpeeds(ramseteOut);
auto voltages = feedforward.Calculate(
frc::MakeMatrix<2, 1>(l.to<double>(), r.to<double>()));
Eigen::Vector<double, 2>{l.to<double>(), r.to<double>()});
// Sim periodic code.
sim.SetInputs(units::volt_t(voltages(0, 0)), units::volt_t(voltages(1, 0)));
@@ -58,7 +57,7 @@ TEST(DifferentialDriveSim, Convergence) {
// Update ground truth.
groundTruthX = frc::RK4(
[&sim](const auto& x, const auto& u) -> Eigen::Matrix<double, 7, 1> {
[&sim](const auto& x, const auto& u) -> Eigen::Vector<double, 7> {
return sim.Dynamics(x, u);
},
groundTruthX, voltages, 20_ms);