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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/system/LinearSystemIDTest.cpp
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@@ -7,7 +7,6 @@
#include <frc/system/plant/LinearSystemId.h>
#include <gtest/gtest.h>
#include "frc/StateSpaceUtil.h"
#include "frc/system/plant/LinearSystemId.h"
#include "units/length.h"
#include "units/mass.h"
@@ -17,32 +16,37 @@ TEST(LinearSystemIDTest, IdentifyDrivetrainVelocitySystem) {
frc::DCMotor::NEO(4), 70_kg, 0.05_m, 0.4_m, 6.0_kg_sq_m, 6.0);
ASSERT_TRUE(model.A().isApprox(
frc::MakeMatrix<2, 2>(-10.14132, 3.06598, 3.06598, -10.14132), 0.001));
Eigen::Matrix<double, 2, 2>{{-10.14132, 3.06598}, {3.06598, -10.14132}},
0.001));
ASSERT_TRUE(model.B().isApprox(
frc::MakeMatrix<2, 2>(4.2590, -1.28762, -1.2876, 4.2590), 0.001));
ASSERT_TRUE(
model.C().isApprox(frc::MakeMatrix<2, 2>(1.0, 0.0, 0.0, 1.0), 0.001));
ASSERT_TRUE(
model.D().isApprox(frc::MakeMatrix<2, 2>(0.0, 0.0, 0.0, 0.0), 0.001));
Eigen::Matrix<double, 2, 2>{{4.2590, -1.28762}, {-1.2876, 4.2590}},
0.001));
ASSERT_TRUE(model.C().isApprox(
Eigen::Matrix<double, 2, 2>{{1.0, 0.0}, {0.0, 1.0}}, 0.001));
ASSERT_TRUE(model.D().isApprox(
Eigen::Matrix<double, 2, 2>{{0.0, 0.0}, {0.0, 0.0}}, 0.001));
}
TEST(LinearSystemIDTest, ElevatorSystem) {
auto model = frc::LinearSystemId::ElevatorSystem(frc::DCMotor::NEO(2), 5_kg,
0.05_m, 12);
ASSERT_TRUE(model.A().isApprox(
frc::MakeMatrix<2, 2>(0.0, 1.0, 0.0, -99.05473), 0.001));
ASSERT_TRUE(model.B().isApprox(frc::MakeMatrix<2, 1>(0.0, 20.8), 0.001));
ASSERT_TRUE(model.C().isApprox(frc::MakeMatrix<1, 2>(1.0, 0.0), 0.001));
ASSERT_TRUE(model.D().isApprox(frc::MakeMatrix<1, 1>(0.0), 0.001));
Eigen::Matrix<double, 2, 2>{{0.0, 1.0}, {0.0, -99.05473}}, 0.001));
ASSERT_TRUE(
model.B().isApprox(Eigen::Matrix<double, 2, 1>{0.0, 20.8}, 0.001));
ASSERT_TRUE(model.C().isApprox(Eigen::Matrix<double, 1, 2>{1.0, 0.0}, 0.001));
ASSERT_TRUE(model.D().isApprox(Eigen::Matrix<double, 1, 1>{0.0}, 0.001));
}
TEST(LinearSystemIDTest, FlywheelSystem) {
auto model = frc::LinearSystemId::FlywheelSystem(frc::DCMotor::NEO(2),
0.00032_kg_sq_m, 1.0);
ASSERT_TRUE(model.A().isApprox(frc::MakeMatrix<1, 1>(-26.87032), 0.001));
ASSERT_TRUE(model.B().isApprox(frc::MakeMatrix<1, 1>(1354.166667), 0.001));
ASSERT_TRUE(model.C().isApprox(frc::MakeMatrix<1, 1>(1.0), 0.001));
ASSERT_TRUE(model.D().isApprox(frc::MakeMatrix<1, 1>(0.0), 0.001));
ASSERT_TRUE(
model.A().isApprox(Eigen::Matrix<double, 1, 1>{-26.87032}, 0.001));
ASSERT_TRUE(
model.B().isApprox(Eigen::Matrix<double, 1, 1>{1354.166667}, 0.001));
ASSERT_TRUE(model.C().isApprox(Eigen::Matrix<double, 1, 1>{1.0}, 0.001));
ASSERT_TRUE(model.D().isApprox(Eigen::Matrix<double, 1, 1>{0.0}, 0.001));
}
TEST(LinearSystemIDTest, IdentifyPositionSystem) {
@@ -53,9 +57,10 @@ TEST(LinearSystemIDTest, IdentifyPositionSystem) {
auto model = frc::LinearSystemId::IdentifyPositionSystem<units::meter>(
kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
ASSERT_TRUE(model.A().isApprox(frc::MakeMatrix<2, 2>(0.0, 1.0, 0.0, -kv / ka),
0.001));
ASSERT_TRUE(model.B().isApprox(frc::MakeMatrix<2, 1>(0.0, 1.0 / ka), 0.001));
ASSERT_TRUE(model.A().isApprox(
Eigen::Matrix<double, 2, 2>{{0.0, 1.0}, {0.0, -kv / ka}}, 0.001));
ASSERT_TRUE(
model.B().isApprox(Eigen::Matrix<double, 2, 1>{0.0, 1.0 / ka}, 0.001));
}
TEST(LinearSystemIDTest, IdentifyVelocitySystem) {
@@ -67,6 +72,6 @@ TEST(LinearSystemIDTest, IdentifyVelocitySystem) {
auto model = frc::LinearSystemId::IdentifyVelocitySystem<units::meter>(
kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
ASSERT_TRUE(model.A().isApprox(frc::MakeMatrix<1, 1>(-kv / ka), 0.001));
ASSERT_TRUE(model.B().isApprox(frc::MakeMatrix<1, 1>(1.0 / ka), 0.001));
ASSERT_TRUE(model.A().isApprox(Eigen::Matrix<double, 1, 1>{-kv / ka}, 0.001));
ASSERT_TRUE(model.B().isApprox(Eigen::Matrix<double, 1, 1>{1.0 / ka}, 0.001));
}