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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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13
wpimath/src/main/native/include/frc/system/LinearSystem.h
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@@ -110,10 +110,9 @@ class LinearSystem {
* @param u The control input.
* @param dt Timestep for model update.
*/
Eigen::Matrix<double, States, 1> CalculateX(
const Eigen::Matrix<double, States, 1>& x,
const Eigen::Matrix<double, Inputs, 1>& clampedU,
units::second_t dt) const {
Eigen::Vector<double, States> CalculateX(
const Eigen::Vector<double, States>& x,
const Eigen::Vector<double, Inputs>& clampedU, units::second_t dt) const {
Eigen::Matrix<double, States, States> discA;
Eigen::Matrix<double, States, Inputs> discB;
DiscretizeAB<States, Inputs>(m_A, m_B, dt, &discA, &discB);
@@ -130,9 +129,9 @@ class LinearSystem {
* @param x The current state.
* @param clampedU The control input.
*/
Eigen::Matrix<double, Outputs, 1> CalculateY(
const Eigen::Matrix<double, States, 1>& x,
const Eigen::Matrix<double, Inputs, 1>& clampedU) const {
Eigen::Vector<double, Outputs> CalculateY(
const Eigen::Vector<double, States>& x,
const Eigen::Vector<double, Inputs>& clampedU) const {
return m_C * x + m_D * clampedU;
}