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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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19
wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
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@@ -8,7 +8,6 @@
#include "frc/Encoder.h"
#include "frc/RobotController.h"
#include "frc/StateSpaceUtil.h"
#include "frc/controller/PIDController.h"
#include "frc/motorcontrol/PWMVictorSPX.h"
#include "frc/simulation/ElevatorSim.h"
@@ -33,8 +32,8 @@ TEST(ElevatorSim, StateSpaceSim) {
auto nextVoltage = controller.Calculate(encoderSim.GetDistance());
motor.Set(nextVoltage / frc::RobotController::GetInputVoltage());
auto u = frc::MakeMatrix<1, 1>(motor.Get() *
frc::RobotController::GetInputVoltage());
Eigen::Vector<double, 1> u{motor.Get() *
frc::RobotController::GetInputVoltage()};
sim.SetInput(u);
sim.Update(20_ms);
@@ -50,7 +49,7 @@ TEST(ElevatorSim, MinMax) {
units::meter_t(0.75 * 25.4 / 1000.0), 0_m, 1_m,
{0.01});
for (size_t i = 0; i < 100; ++i) {
sim.SetInput(frc::MakeMatrix<1, 1>(0.0));
sim.SetInput(Eigen::Vector<double, 1>{0.0});
sim.Update(20_ms);
auto height = sim.GetPosition();
@@ -58,7 +57,7 @@ TEST(ElevatorSim, MinMax) {
}
for (size_t i = 0; i < 100; ++i) {
sim.SetInput(frc::MakeMatrix<1, 1>(12.0));
sim.SetInput(Eigen::Vector<double, 1>{12.0});
sim.Update(20_ms);
auto height = sim.GetPosition();
@@ -75,14 +74,14 @@ TEST(ElevatorSim, Stability) {
frc::LinearSystem<2, 1, 1> system = frc::LinearSystemId::ElevatorSystem(
m_elevatorGearbox, kCarriageMass, kElevatorDrumRadius, kElevatorGearing);
Eigen::Matrix<double, 2, 1> x0 = frc::MakeMatrix<2, 1>(0.0, 0.0);
Eigen::Matrix<double, 1, 1> u0 = frc::MakeMatrix<1, 1>(12.0);
Eigen::Vector<double, 2> x0{0.0, 0.0};
Eigen::Vector<double, 1> u0{12.0};
Eigen::Matrix<double, 2, 1> x1 = frc::MakeMatrix<2, 1>(0.0, 0.0);
Eigen::Vector<double, 2> x1{0.0, 0.0};
for (size_t i = 0; i < 50; i++) {
x1 = frc::RKDP(
[&](Eigen::Matrix<double, 2, 1> x,
Eigen::Matrix<double, 1, 1> u) -> Eigen::Matrix<double, 2, 1> {
[&](const Eigen::Vector<double, 2>& x,
const Eigen::Vector<double, 1>& u) -> Eigen::Vector<double, 2> {
return system.A() * x + system.B() * u;
},
x1, u0, 0.020_s);