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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/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);
}