Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-26 01:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Clean up Eigen usage

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files

37
wpimath/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp
View File

@@ -21,31 +21,29 @@ MecanumDriveWheelSpeeds MecanumDriveKinematics::ToWheelSpeeds(
m_previousCoR = centerOfRotation;
}
Eigen::Vector3d chassisSpeedsVector;
chassisSpeedsVector << chassisSpeeds.vx.to<double>(),
chassisSpeeds.vy.to<double>(), chassisSpeeds.omega.to<double>();
Eigen::Vector3d chassisSpeedsVector{chassisSpeeds.vx.to<double>(),
chassisSpeeds.vy.to<double>(),
chassisSpeeds.omega.to<double>()};
Eigen::Matrix<double, 4, 1> wheelsMatrix =
Eigen::Vector<double, 4> wheelsVector =
m_inverseKinematics * chassisSpeedsVector;
MecanumDriveWheelSpeeds wheelSpeeds;
wheelSpeeds.frontLeft = units::meters_per_second_t{wheelsMatrix(0, 0)};
wheelSpeeds.frontRight = units::meters_per_second_t{wheelsMatrix(1, 0)};
wheelSpeeds.rearLeft = units::meters_per_second_t{wheelsMatrix(2, 0)};
wheelSpeeds.rearRight = units::meters_per_second_t{wheelsMatrix(3, 0)};
wheelSpeeds.frontLeft = units::meters_per_second_t{wheelsVector(0)};
wheelSpeeds.frontRight = units::meters_per_second_t{wheelsVector(1)};
wheelSpeeds.rearLeft = units::meters_per_second_t{wheelsVector(2)};
wheelSpeeds.rearRight = units::meters_per_second_t{wheelsVector(3)};
return wheelSpeeds;
}
ChassisSpeeds MecanumDriveKinematics::ToChassisSpeeds(
const MecanumDriveWheelSpeeds& wheelSpeeds) const {
Eigen::Matrix<double, 4, 1> wheelSpeedsMatrix;
// clang-format off
wheelSpeedsMatrix << wheelSpeeds.frontLeft.to<double>(), wheelSpeeds.frontRight.to<double>(),
wheelSpeeds.rearLeft.to<double>(), wheelSpeeds.rearRight.to<double>();
// clang-format on
Eigen::Vector<double, 4> wheelSpeedsVector{
wheelSpeeds.frontLeft.to<double>(), wheelSpeeds.frontRight.to<double>(),
wheelSpeeds.rearLeft.to<double>(), wheelSpeeds.rearRight.to<double>()};
Eigen::Vector3d chassisSpeedsVector =
m_forwardKinematics.solve(wheelSpeedsMatrix);
m_forwardKinematics.solve(wheelSpeedsVector);
return {units::meters_per_second_t{chassisSpeedsVector(0)}, // NOLINT
units::meters_per_second_t{chassisSpeedsVector(1)},
@@ -56,10 +54,9 @@ void MecanumDriveKinematics::SetInverseKinematics(Translation2d fl,
Translation2d fr,
Translation2d rl,
Translation2d rr) const {
// clang-format off
m_inverseKinematics << 1, -1, (-(fl.X() + fl.Y())).template to<double>(),
1, 1, (fr.X() - fr.Y()).template to<double>(),
1, 1, (rl.X() - rl.Y()).template to<double>(),
1, -1, (-(rr.X() + rr.Y())).template to<double>();
// clang-format on
m_inverseKinematics = Eigen::Matrix<double, 4, 3>{
{1, -1, (-(fl.X() + fl.Y())).template to<double>()},
{1, 1, (fr.X() - fr.Y()).template to<double>()},
{1, 1, (rl.X() - rl.Y()).template to<double>()},
{1, -1, (-(rr.X() + rr.Y())).template to<double>()}};
}