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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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21
wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp
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@@ -10,11 +10,12 @@
#include "frc/estimator/AngleStatistics.h"
TEST(AngleStatisticsTest, TestMean) {
Eigen::Matrix<double, 3, 3> sigmas;
sigmas << 1, 1.2, 0, 359 * wpi::numbers::pi / 180, 3 * wpi::numbers::pi / 180,
0, 1, 2, 0;
Eigen::Matrix<double, 3, 3> sigmas{
{1, 1.2, 0},
{359 * wpi::numbers::pi / 180, 3 * wpi::numbers::pi / 180, 0},
{1, 2, 0}};
// Weights need to produce the mean of the sigmas
Eigen::Vector3d weights{};
Eigen::Vector3d weights;
weights.fill(1.0 / sigmas.cols());
EXPECT_TRUE(Eigen::Vector3d(0.7333333, 0.01163323, 1)
@@ -22,16 +23,16 @@ TEST(AngleStatisticsTest, TestMean) {
}
TEST(AngleStatisticsTest, TestResidual) {
Eigen::Vector3d a(1, 1 * wpi::numbers::pi / 180, 2);
Eigen::Vector3d b(1, 359 * wpi::numbers::pi / 180, 1);
Eigen::Vector3d a{1, 1 * wpi::numbers::pi / 180, 2};
Eigen::Vector3d b{1, 359 * wpi::numbers::pi / 180, 1};
EXPECT_TRUE(frc::AngleResidual<3>(a, b, 1).isApprox(
Eigen::Vector3d(0, 2 * wpi::numbers::pi / 180, 1)));
Eigen::Vector3d{0, 2 * wpi::numbers::pi / 180, 1}));
}
TEST(AngleStatisticsTest, TestAdd) {
Eigen::Vector3d a(1, 1 * wpi::numbers::pi / 180, 2);
Eigen::Vector3d b(1, 359 * wpi::numbers::pi / 180, 1);
Eigen::Vector3d a{1, 1 * wpi::numbers::pi / 180, 2};
Eigen::Vector3d b{1, 359 * wpi::numbers::pi / 180, 1};
EXPECT_TRUE(frc::AngleAdd<3>(a, b, 1).isApprox(Eigen::Vector3d(2, 0, 3)));
EXPECT_TRUE(frc::AngleAdd<3>(a, b, 1).isApprox(Eigen::Vector3d{2, 0, 3}));
}