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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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34
wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
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@@ -18,26 +18,26 @@ frc::MecanumDrivePoseEstimator::MecanumDrivePoseEstimator(
const wpi::array<double, 1>& localMeasurementStdDevs,
const wpi::array<double, 3>& visionMeasurementStdDevs,
units::second_t nominalDt)
: m_observer([](const Eigen::Matrix<double, 3, 1>& x,
const Eigen::Matrix<double, 3, 1>& u) { return u; },
[](const Eigen::Matrix<double, 3, 1>& x,
const Eigen::Matrix<double, 3, 1>& u) {
return x.block<1, 1>(2, 0);
},
stateStdDevs, localMeasurementStdDevs, frc::AngleMean<3, 3>(2),
frc::AngleMean<1, 3>(0), frc::AngleResidual<3>(2),
frc::AngleResidual<1>(0), frc::AngleAdd<3>(2), nominalDt),
: m_observer(
[](const Eigen::Vector<double, 3>& x,
const Eigen::Vector<double, 3>& u) { return u; },
[](const Eigen::Vector<double, 3>& x,
const Eigen::Vector<double, 3>& u) { return x.block<1, 1>(2, 0); },
stateStdDevs, localMeasurementStdDevs, frc::AngleMean<3, 3>(2),
frc::AngleMean<1, 3>(0), frc::AngleResidual<3>(2),
frc::AngleResidual<1>(0), frc::AngleAdd<3>(2), nominalDt),
m_kinematics(kinematics),
m_nominalDt(nominalDt) {
SetVisionMeasurementStdDevs(visionMeasurementStdDevs);
// Create vision correction mechanism.
m_visionCorrect = [&](const Eigen::Matrix<double, 3, 1>& u,
const Eigen::Matrix<double, 3, 1>& y) {
m_visionCorrect = [&](const Eigen::Vector<double, 3>& u,
const Eigen::Vector<double, 3>& y) {
m_observer.Correct<3>(
u, y,
[](const Eigen::Matrix<double, 3, 1>& x,
const Eigen::Matrix<double, 3, 1>&) { return x; },
[](const Eigen::Vector<double, 3>& x, const Eigen::Vector<double, 3>&) {
return x;
},
m_visionContR, frc::AngleMean<3, 3>(2), frc::AngleResidual<3>(2),
frc::AngleResidual<3>(2), frc::AngleAdd<3>(2));
};
@@ -100,11 +100,11 @@ Pose2d frc::MecanumDrivePoseEstimator::UpdateWithTime(
Translation2d(chassisSpeeds.vx * 1_s, chassisSpeeds.vy * 1_s)
.RotateBy(angle);
auto u = frc::MakeMatrix<3, 1>(fieldRelativeVelocities.X().to<double>(),
fieldRelativeVelocities.Y().to<double>(),
omega.to<double>());
Eigen::Vector<double, 3> u{fieldRelativeVelocities.X().to<double>(),
fieldRelativeVelocities.Y().to<double>(),
omega.to<double>()};
auto localY = frc::MakeMatrix<1, 1>(angle.Radians().template to<double>());
Eigen::Vector<double, 1> localY{angle.Radians().template to<double>()};
m_previousAngle = angle;
m_latencyCompensator.AddObserverState(m_observer, u, localY, currentTime);