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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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16
wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
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@@ -109,12 +109,12 @@ public class MecanumDriveKinematics {
chassisSpeeds.vyMetersPerSecond,
chassisSpeeds.omegaRadiansPerSecond);
var wheelsMatrix = m_inverseKinematics.mult(chassisSpeedsVector);
var wheelsVector = m_inverseKinematics.mult(chassisSpeedsVector);
return new MecanumDriveWheelSpeeds(
wheelsMatrix.get(0, 0),
wheelsMatrix.get(1, 0),
wheelsMatrix.get(2, 0),
wheelsMatrix.get(3, 0));
wheelsVector.get(0, 0),
wheelsVector.get(1, 0),
wheelsVector.get(2, 0),
wheelsVector.get(3, 0));
}
/**
@@ -137,15 +137,15 @@ public class MecanumDriveKinematics {
* @return The resulting chassis speed.
*/
public ChassisSpeeds toChassisSpeeds(MecanumDriveWheelSpeeds wheelSpeeds) {
var wheelSpeedsMatrix = new SimpleMatrix(4, 1);
wheelSpeedsMatrix.setColumn(
var wheelSpeedsVector = new SimpleMatrix(4, 1);
wheelSpeedsVector.setColumn(
0,
0,
wheelSpeeds.frontLeftMetersPerSecond,
wheelSpeeds.frontRightMetersPerSecond,
wheelSpeeds.rearLeftMetersPerSecond,
wheelSpeeds.rearRightMetersPerSecond);
var chassisSpeedsVector = m_forwardKinematics.mult(wheelSpeedsMatrix);
var chassisSpeedsVector = m_forwardKinematics.mult(wheelSpeedsVector);
return new ChassisSpeeds(
chassisSpeedsVector.get(0, 0),