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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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wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
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@@ -10,10 +10,10 @@
TEST(SingleJointedArmTest, Disabled) {
frc::sim::SingleJointedArmSim sim(frc::DCMotor::Vex775Pro(2), 100, 3_kg_sq_m,
9.5_in, -180_deg, 0_deg, 10_lb, true);
sim.SetState(frc::MakeMatrix<2, 1>(0.0, 0.0));
sim.SetState(Eigen::Vector<double, 2>{0.0, 0.0});
for (size_t i = 0; i < 12 / 0.02; ++i) {
sim.SetInput(frc::MakeMatrix<1, 1>(0.0));
sim.SetInput(Eigen::Vector<double, 1>{0.0});
sim.Update(20_ms);
}