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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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45
wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp
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@@ -7,61 +7,46 @@
#include <cmath>
#include "Eigen/Core"
#include "frc/StateSpaceUtil.h"
#include "frc/controller/ControlAffinePlantInversionFeedforward.h"
#include "units/time.h"
namespace frc {
Eigen::Matrix<double, 2, 1> Dynamics(const Eigen::Matrix<double, 2, 1>& x,
const Eigen::Matrix<double, 1, 1>& u) {
Eigen::Matrix<double, 2, 1> result;
result = (frc::MakeMatrix<2, 2>(1.0, 0.0, 0.0, 1.0) * x) +
(frc::MakeMatrix<2, 1>(0.0, 1.0) * u);
return result;
Eigen::Vector<double, 2> Dynamics(const Eigen::Vector<double, 2>& x,
const Eigen::Vector<double, 1>& u) {
return Eigen::Matrix<double, 2, 2>{{1.0, 0.0}, {0.0, 1.0}} * x +
Eigen::Matrix<double, 2, 1>{0.0, 1.0} * u;
}
Eigen::Matrix<double, 2, 1> StateDynamics(
const Eigen::Matrix<double, 2, 1>& x) {
Eigen::Matrix<double, 2, 1> result;
result = (frc::MakeMatrix<2, 2>(1.0, 0.0, 0.0, 1.0) * x);
return result;
Eigen::Vector<double, 2> StateDynamics(const Eigen::Vector<double, 2>& x) {
return Eigen::Matrix<double, 2, 2>{{1.0, 0.0}, {0.0, 1.0}} * x;
}
TEST(ControlAffinePlantInversionFeedforwardTest, Calculate) {
std::function<Eigen::Matrix<double, 2, 1>(const Eigen::Matrix<double, 2, 1>&,
const Eigen::Matrix<double, 1, 1>&)>
std::function<Eigen::Vector<double, 2>(const Eigen::Vector<double, 2>&,
const Eigen::Vector<double, 1>&)>
modelDynamics = [](auto& x, auto& u) { return Dynamics(x, u); };
frc::ControlAffinePlantInversionFeedforward<2, 1> feedforward{
modelDynamics, units::second_t(0.02)};
modelDynamics, units::second_t{0.02}};
Eigen::Matrix<double, 2, 1> r;
r << 2, 2;
Eigen::Matrix<double, 2, 1> nextR;
nextR << 3, 3;
Eigen::Vector<double, 2> r{2, 2};
Eigen::Vector<double, 2> nextR{3, 3};
EXPECT_NEAR(48, feedforward.Calculate(r, nextR)(0, 0), 1e-6);
}
TEST(ControlAffinePlantInversionFeedforwardTest, CalculateState) {
std::function<Eigen::Matrix<double, 2, 1>(const Eigen::Matrix<double, 2, 1>&)>
std::function<Eigen::Vector<double, 2>(const Eigen::Vector<double, 2>&)>
modelDynamics = [](auto& x) { return StateDynamics(x); };
Eigen::Matrix<double, 2, 1> B;
B << 0, 1;
Eigen::Matrix<double, 2, 1> B{0, 1};
frc::ControlAffinePlantInversionFeedforward<2, 1> feedforward{
modelDynamics, B, units::second_t(0.02)};
Eigen::Matrix<double, 2, 1> r;
r << 2, 2;
Eigen::Matrix<double, 2, 1> nextR;
nextR << 3, 3;
Eigen::Vector<double, 2> r{2, 2};
Eigen::Vector<double, 2> nextR{3, 3};
EXPECT_NEAR(48, feedforward.Calculate(r, nextR)(0, 0), 1e-6);
}

13
wpimath/src/test/native/cpp/controller/LinearPlantInversionFeedforwardTest.cpp
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@@ -13,19 +13,14 @@
namespace frc {
TEST(LinearPlantInversionFeedforwardTest, Calculate) {
Eigen::Matrix<double, 2, 2> A;
A << 1, 0, 0, 1;
Eigen::Matrix<double, 2, 1> B;
B << 0, 1;
Eigen::Matrix<double, 2, 2> A{{1, 0}, {0, 1}};
Eigen::Matrix<double, 2, 1> B{0, 1};
frc::LinearPlantInversionFeedforward<2, 1> feedforward{A, B,
units::second_t(0.02)};
Eigen::Matrix<double, 2, 1> r;
r << 2, 2;
Eigen::Matrix<double, 2, 1> nextR;
nextR << 3, 3;
Eigen::Vector<double, 2> r{2, 2};
Eigen::Vector<double, 2> nextR{3, 3};
EXPECT_NEAR(47.502599, feedforward.Calculate(r, nextR)(0, 0), 0.002);
}

13
wpimath/src/test/native/cpp/controller/SimpleMotorFeedforwardTest.cpp
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@@ -21,21 +21,16 @@ TEST(SimpleMotorFeedforwardTest, Calculate) {
double Ka = 0.6;
auto dt = 0.02_s;
Eigen::Matrix<double, 1, 1> A;
A << -Kv / Ka;
Eigen::Matrix<double, 1, 1> B;
B << 1.0 / Ka;
Eigen::Matrix<double, 1, 1> A{-Kv / Ka};
Eigen::Matrix<double, 1, 1> B{1.0 / Ka};
frc::LinearPlantInversionFeedforward<1, 1> plantInversion{A, B, dt};
frc::SimpleMotorFeedforward<units::meter> simpleMotor{
units::volt_t{Ks}, units::volt_t{Kv} / 1_mps,
units::volt_t{Ka} / 1_mps_sq};
Eigen::Matrix<double, 1, 1> r;
r << 2;
Eigen::Matrix<double, 1, 1> nextR;
nextR << 3;
Eigen::Vector<double, 1> r{2.0};
Eigen::Vector<double, 1> nextR{3.0};
EXPECT_NEAR(37.524995834325161 + Ks,
simpleMotor.Calculate(2_mps, 3_mps, dt).to<double>(), 0.002);