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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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5
wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
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@@ -5,7 +5,6 @@
#include <frc/Encoder.h>
#include <frc/Joystick.h>
#include <frc/RobotController.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
#include <frc/controller/PIDController.h>
#include <frc/motorcontrol/PWMSparkMax.h>
@@ -69,8 +68,8 @@ class Robot : public frc::TimedRobot {
void SimulationPeriodic() override {
// In this method, we update our simulation of what our arm is doing
// First, we set our "inputs" (voltages)
m_armSim.SetInput(frc::MakeMatrix<1, 1>(
m_motor.Get() * frc::RobotController::GetInputVoltage()));
m_armSim.SetInput(Eigen::Vector<double, 1>{
m_motor.Get() * frc::RobotController::GetInputVoltage()});
// Next, we update it. The standard loop time is 20ms.
m_armSim.Update(20_ms);

5
wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
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@@ -5,7 +5,6 @@
#include <frc/Encoder.h>
#include <frc/Joystick.h>
#include <frc/RobotController.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
#include <frc/controller/PIDController.h>
#include <frc/motorcontrol/PWMSparkMax.h>
@@ -68,8 +67,8 @@ class Robot : public frc::TimedRobot {
void SimulationPeriodic() override {
// In this method, we update our simulation of what our elevator is doing
// First, we set our "inputs" (voltages)
m_elevatorSim.SetInput(frc::MakeMatrix<1, 1>(
m_motor.Get() * frc::RobotController::GetInputVoltage()));
m_elevatorSim.SetInput(Eigen::Vector<double, 1>{
m_motor.Get() * frc::RobotController::GetInputVoltage()});
// Next, we update it. The standard loop time is 20ms.
m_elevatorSim.Update(20_ms);

11
wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
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@@ -3,7 +3,6 @@
// the WPILib BSD license file in the root directory of this project.
#include <frc/Encoder.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
#include <frc/controller/LinearPlantInversionFeedforward.h>
@@ -100,7 +99,7 @@ class Robot : public frc::TimedRobot {
void TeleopInit() override {
m_loop.Reset(
frc::MakeMatrix<2, 1>(m_encoder.GetDistance(), m_encoder.GetRate()));
Eigen::Vector<double, 2>{m_encoder.GetDistance(), m_encoder.GetRate()});
m_lastProfiledReference = {
units::radian_t(m_encoder.GetDistance()),
@@ -123,12 +122,12 @@ class Robot : public frc::TimedRobot {
m_lastProfiledReference))
.Calculate(20_ms);
m_loop.SetNextR(
frc::MakeMatrix<2, 1>(m_lastProfiledReference.position.to<double>(),
m_lastProfiledReference.velocity.to<double>()));
m_loop.SetNextR(Eigen::Vector<double, 2>{
m_lastProfiledReference.position.to<double>(),
m_lastProfiledReference.velocity.to<double>()});
// Correct our Kalman filter's state vector estimate with encoder data.
m_loop.Correct(frc::MakeMatrix<1, 1>(m_encoder.GetDistance()));
m_loop.Correct(Eigen::Vector<double, 1>{m_encoder.GetDistance()});
// Update our LQR to generate new voltage commands and use the voltages to
// predict the next state with out Kalman filter.

11
wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
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@@ -3,7 +3,6 @@
// the WPILib BSD license file in the root directory of this project.
#include <frc/Encoder.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
#include <frc/controller/LinearQuadraticRegulator.h>
@@ -98,7 +97,7 @@ class Robot : public frc::TimedRobot {
void TeleopInit() override {
// Reset our loop to make sure it's in a known state.
m_loop.Reset(
frc::MakeMatrix<2, 1>(m_encoder.GetDistance(), m_encoder.GetRate()));
Eigen::Vector<double, 2>{m_encoder.GetDistance(), m_encoder.GetRate()});
m_lastProfiledReference = {units::meter_t(m_encoder.GetDistance()),
units::meters_per_second_t(m_encoder.GetRate())};
@@ -120,12 +119,12 @@ class Robot : public frc::TimedRobot {
m_lastProfiledReference))
.Calculate(20_ms);
m_loop.SetNextR(
frc::MakeMatrix<2, 1>(m_lastProfiledReference.position.to<double>(),
m_lastProfiledReference.velocity.to<double>()));
m_loop.SetNextR(Eigen::Vector<double, 2>{
m_lastProfiledReference.position.to<double>(),
m_lastProfiledReference.velocity.to<double>()});
// Correct our Kalman filter's state vector estimate with encoder data.
m_loop.Correct(frc::MakeMatrix<1, 1>(m_encoder.GetDistance()));
m_loop.Correct(Eigen::Vector<double, 1>{m_encoder.GetDistance()});
// Update our LQR to generate new voltage commands and use the voltages to
// predict the next state with out Kalman filter.

9
wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
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@@ -4,7 +4,6 @@
#include <frc/DriverStation.h>
#include <frc/Encoder.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
#include <frc/controller/LinearQuadraticRegulator.h>
@@ -86,7 +85,7 @@ class Robot : public frc::TimedRobot {
}
void TeleopInit() override {
m_loop.Reset(frc::MakeMatrix<1, 1>(m_encoder.GetRate()));
m_loop.Reset(Eigen::Vector<double, 1>{m_encoder.GetRate()});
}
void TeleopPeriodic() override {
@@ -94,14 +93,14 @@ class Robot : public frc::TimedRobot {
// setpoint of a PID controller.
if (m_joystick.GetRightBumper()) {
// We pressed the bumper, so let's set our next reference
m_loop.SetNextR(frc::MakeMatrix<1, 1>(kSpinup.to<double>()));
m_loop.SetNextR(Eigen::Vector<double, 1>{kSpinup.to<double>()});
} else {
// We released the bumper, so let's spin down
m_loop.SetNextR(frc::MakeMatrix<1, 1>(0.0));
m_loop.SetNextR(Eigen::Vector<double, 1>{0.0});
}
// Correct our Kalman filter's state vector estimate with encoder data.
m_loop.Correct(frc::MakeMatrix<1, 1>(m_encoder.GetRate()));
m_loop.Correct(Eigen::Vector<double, 1>{m_encoder.GetRate()});
// Update our LQR to generate new voltage commands and use the voltages to
// predict the next state with out Kalman filter.

9
wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
View File

@@ -4,7 +4,6 @@
#include <frc/DriverStation.h>
#include <frc/Encoder.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
#include <frc/controller/LinearPlantInversionFeedforward.h>
@@ -87,7 +86,7 @@ class Robot : public frc::TimedRobot {
}
void TeleopInit() override {
m_loop.Reset(frc::MakeMatrix<1, 1>(m_encoder.GetRate()));
m_loop.Reset(Eigen::Vector<double, 1>{m_encoder.GetRate()});
}
void TeleopPeriodic() override {
@@ -95,14 +94,14 @@ class Robot : public frc::TimedRobot {
// setpoint of a PID controller.
if (m_joystick.GetRightBumper()) {
// We pressed the bumper, so let's set our next reference
m_loop.SetNextR(frc::MakeMatrix<1, 1>(kSpinup.to<double>()));
m_loop.SetNextR(Eigen::Vector<double, 1>{kSpinup.to<double>()});
} else {
// We released the bumper, so let's spin down
m_loop.SetNextR(frc::MakeMatrix<1, 1>(0.0));
m_loop.SetNextR(Eigen::Vector<double, 1>{0.0});
}
// Correct our Kalman filter's state vector estimate with encoder data.
m_loop.Correct(frc::MakeMatrix<1, 1>(m_encoder.GetRate()));
m_loop.Correct(Eigen::Vector<double, 1>{m_encoder.GetRate()});
// Update our LQR to generate new voltage commands and use the voltages to
// predict the next state with out Kalman filter.