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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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23
wpimath/src/test/native/cpp/estimator/MerweScaledSigmaPointsTest.cpp
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@@ -4,32 +4,33 @@
#include <gtest/gtest.h>
#include "frc/StateSpaceUtil.h"
#include "frc/estimator/MerweScaledSigmaPoints.h"
namespace drake::math {
namespace {
TEST(MerweScaledSigmaPointsTest, TestZeroMean) {
frc::MerweScaledSigmaPoints<2> sigmaPoints;
auto points =
sigmaPoints.SigmaPoints(frc::MakeMatrix<2, 1>(0.0, 0.0),
frc::MakeMatrix<2, 2>(1.0, 0.0, 0.0, 1.0));
auto points = sigmaPoints.SigmaPoints(
Eigen::Vector<double, 2>{0.0, 0.0},
Eigen::Matrix<double, 2, 2>{{1.0, 0.0}, {0.0, 1.0}});
EXPECT_TRUE(
(points - frc::MakeMatrix<2, 5>(0.0, 0.00173205, 0.0, -0.00173205, 0.0,
0.0, 0.0, 0.00173205, 0.0, -0.00173205))
(points -
Eigen::Matrix<double, 2, 5>{{0.0, 0.00173205, 0.0, -0.00173205, 0.0},
{0.0, 0.0, 0.00173205, 0.0, -0.00173205}})
.norm() < 1e-3);
}
TEST(MerweScaledSigmaPointsTest, TestNonzeroMean) {
frc::MerweScaledSigmaPoints<2> sigmaPoints;
auto points =
sigmaPoints.SigmaPoints(frc::MakeMatrix<2, 1>(1.0, 2.0),
frc::MakeMatrix<2, 2>(1.0, 0.0, 0.0, 10.0));
auto points = sigmaPoints.SigmaPoints(
Eigen::Vector<double, 2>{1.0, 2.0},
Eigen::Matrix<double, 2, 2>{{1.0, 0.0}, {0.0, 10.0}});
EXPECT_TRUE(
(points - frc::MakeMatrix<2, 5>(1.0, 1.00173205, 1.0, 0.998268, 1.0, 2.0,
2.0, 2.00548, 2.0, 1.99452))
(points -
Eigen::Matrix<double, 2, 5>{{1.0, 1.00173205, 1.0, 0.998268, 1.0},
{2.0, 2.0, 2.00548, 2.0, 1.99452}})
.norm() < 1e-3);
}
} // namespace