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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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32
wpimath/src/test/native/cpp/EigenTest.cpp
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@@ -7,48 +7,40 @@
#include "gtest/gtest.h"
TEST(EigenTest, MultiplicationTest) {
Eigen::Matrix<double, 2, 2> m1;
m1 << 2, 1, 0, 1;
Eigen::Matrix<double, 2, 2> m2;
m2 << 3, 0, 0, 2.5;
Eigen::Matrix<double, 2, 2> m1{{2, 1}, {0, 1}};
Eigen::Matrix<double, 2, 2> m2{{3, 0}, {0, 2.5}};
const auto result = m1 * m2;
Eigen::Matrix<double, 2, 2> expectedResult;
expectedResult << 6.0, 2.5, 0.0, 2.5;
Eigen::Matrix<double, 2, 2> expectedResult{{6.0, 2.5}, {0.0, 2.5}};
EXPECT_TRUE(expectedResult.isApprox(result));
Eigen::Matrix<double, 2, 3> m3;
m3 << 1.0, 3.0, 0.5, 2.0, 4.3, 1.2;
Eigen::Matrix<double, 3, 4> m4;
m4 << 3.0, 1.5, 2.0, 4.5, 2.3, 1.0, 1.6, 3.1, 5.2, 2.1, 2.0, 1.0;
Eigen::Matrix<double, 2, 3> m3{{1.0, 3.0, 0.5}, {2.0, 4.3, 1.2}};
Eigen::Matrix<double, 3, 4> m4{
{3.0, 1.5, 2.0, 4.5}, {2.3, 1.0, 1.6, 3.1}, {5.2, 2.1, 2.0, 1.0}};
const auto result2 = m3 * m4;
Eigen::Matrix<double, 2, 4> expectedResult2;
expectedResult2 << 12.5, 5.55, 7.8, 14.3, 22.13, 9.82, 13.28, 23.53;
Eigen::Matrix<double, 2, 4> expectedResult2{{12.5, 5.55, 7.8, 14.3},
{22.13, 9.82, 13.28, 23.53}};
EXPECT_TRUE(expectedResult2.isApprox(result2));
}
TEST(EigenTest, TransposeTest) {
Eigen::Matrix<double, 3, 1> vec;
vec << 1, 2, 3;
Eigen::Vector<double, 3> vec{1, 2, 3};
const auto transpose = vec.transpose();
Eigen::Matrix<double, 1, 3> expectedTranspose;
expectedTranspose << 1, 2, 3;
Eigen::RowVector<double, 3> expectedTranspose{1, 2, 3};
EXPECT_TRUE(expectedTranspose.isApprox(transpose));
}
TEST(EigenTest, InverseTest) {
Eigen::Matrix<double, 3, 3> mat;
mat << 1.0, 3.0, 2.0, 5.0, 2.0, 1.5, 0.0, 1.3, 2.5;
Eigen::Matrix<double, 3, 3> mat{
{1.0, 3.0, 2.0}, {5.0, 2.0, 1.5}, {0.0, 1.3, 2.5}};
const auto inverse = mat.inverse();
const auto identity = Eigen::MatrixXd::Identity(3, 3);