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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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22
wpimath/src/main/native/cpp/StateSpaceUtil.cpp
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@@ -6,16 +6,16 @@
namespace frc {
Eigen::Matrix<double, 3, 1> PoseTo3dVector(const Pose2d& pose) {
return frc::MakeMatrix<3, 1>(pose.Translation().X().to<double>(),
pose.Translation().Y().to<double>(),
pose.Rotation().Radians().to<double>());
Eigen::Vector<double, 3> PoseTo3dVector(const Pose2d& pose) {
return Eigen::Vector<double, 3>{pose.Translation().X().to<double>(),
pose.Translation().Y().to<double>(),
pose.Rotation().Radians().to<double>()};
}
Eigen::Matrix<double, 4, 1> PoseTo4dVector(const Pose2d& pose) {
return frc::MakeMatrix<4, 1>(pose.Translation().X().to<double>(),
pose.Translation().Y().to<double>(),
pose.Rotation().Cos(), pose.Rotation().Sin());
Eigen::Vector<double, 4> PoseTo4dVector(const Pose2d& pose) {
return Eigen::Vector<double, 4>{pose.Translation().X().to<double>(),
pose.Translation().Y().to<double>(),
pose.Rotation().Cos(), pose.Rotation().Sin()};
}
template <>
@@ -30,9 +30,9 @@ bool IsStabilizable<2, 1>(const Eigen::Matrix<double, 2, 2>& A,
return detail::IsStabilizableImpl<2, 1>(A, B);
}
Eigen::Matrix<double, 3, 1> PoseToVector(const Pose2d& pose) {
return frc::MakeMatrix<3, 1>(pose.X().to<double>(), pose.Y().to<double>(),
pose.Rotation().Radians().to<double>());
Eigen::Vector<double, 3> PoseToVector(const Pose2d& pose) {
return Eigen::Vector<double, 3>{pose.X().to<double>(), pose.Y().to<double>(),
pose.Rotation().Radians().to<double>()};
}
} // namespace frc