Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-02 02:51:42 +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

20
wpimath/src/main/native/include/frc/system/NumericalJacobian.h
View File

@@ -17,16 +17,16 @@ namespace frc {
* @param x Vector argument.
*/
template <int Rows, int Cols, typename F>
auto NumericalJacobian(F&& f, const Eigen::Matrix<double, Cols, 1>& x) {
auto NumericalJacobian(F&& f, const Eigen::Vector<double, Cols>& x) {
constexpr double kEpsilon = 1e-5;
Eigen::Matrix<double, Rows, Cols> result;
result.setZero();
// It's more expensive, but +- epsilon will be more accurate
for (int i = 0; i < Cols; ++i) {
Eigen::Matrix<double, Cols, 1> dX_plus = x;
Eigen::Vector<double, Cols> dX_plus = x;
dX_plus(i) += kEpsilon;
Eigen::Matrix<double, Cols, 1> dX_minus = x;
Eigen::Vector<double, Cols> dX_minus = x;
dX_minus(i) -= kEpsilon;
result.col(i) = (f(dX_plus) - f(dX_minus)) / (kEpsilon * 2.0);
}
@@ -47,11 +47,12 @@ auto NumericalJacobian(F&& f, const Eigen::Matrix<double, Cols, 1>& x) {
* @param u Input vector.
*/
template <int Rows, int States, int Inputs, typename F, typename... Args>
auto NumericalJacobianX(F&& f, const Eigen::Matrix<double, States, 1>& x,
const Eigen::Matrix<double, Inputs, 1>& u,
auto NumericalJacobianX(F&& f, const Eigen::Vector<double, States>& x,
const Eigen::Vector<double, Inputs>& u,
Args&&... args) {
return NumericalJacobian<Rows, States>(
[&](Eigen::Matrix<double, States, 1> x) { return f(x, u, args...); }, x);
[&](const Eigen::Vector<double, States>& x) { return f(x, u, args...); },
x);
}
/**
@@ -67,11 +68,12 @@ auto NumericalJacobianX(F&& f, const Eigen::Matrix<double, States, 1>& x,
* @param u Input vector.
*/
template <int Rows, int States, int Inputs, typename F, typename... Args>
auto NumericalJacobianU(F&& f, const Eigen::Matrix<double, States, 1>& x,
const Eigen::Matrix<double, Inputs, 1>& u,
auto NumericalJacobianU(F&& f, const Eigen::Vector<double, States>& x,
const Eigen::Vector<double, Inputs>& u,
Args&&... args) {
return NumericalJacobian<Rows, Inputs>(
[&](Eigen::Matrix<double, Inputs, 1> u) { return f(x, u, args...); }, u);
[&](const Eigen::Vector<double, Inputs>& u) { return f(x, u, args...); },
u);
}
} // namespace frc