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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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7
wpimath/src/test/native/cpp/StateSpaceTest.cpp
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@@ -45,8 +45,8 @@ class StateSpace : public testing::Test {
void Update(const LinearSystem<2, 1, 1>& plant, LinearSystemLoop<2, 1, 1>& loop,
double noise) {
Eigen::Matrix<double, 1, 1> y = plant.CalculateY(loop.Xhat(), loop.U()) +
Eigen::Matrix<double, 1, 1>(noise);
Eigen::Vector<double, 1> y =
plant.CalculateY(loop.Xhat(), loop.U()) + Eigen::Vector<double, 1>{noise};
loop.Correct(y);
loop.Predict(kDt);
}
@@ -55,8 +55,7 @@ TEST_F(StateSpace, CorrectPredictLoop) {
std::default_random_engine generator;
std::normal_distribution<double> dist{0.0, kPositionStddev};
Eigen::Matrix<double, 2, 1> references;
references << 2.0, 0.0;
Eigen::Vector<double, 2> references{2.0, 0.0};
loop.SetNextR(references);
for (int i = 0; i < 1000; i++) {