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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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50
wpimath/src/test/native/cpp/system/NumericalIntegrationTest.cpp
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@@ -10,14 +10,11 @@
// Tests that integrating dx/dt = e^x works.
TEST(NumericalIntegrationTest, Exponential) {
Eigen::Matrix<double, 1, 1> y0;
y0(0) = 0.0;
Eigen::Vector<double, 1> y0{0.0};
Eigen::Matrix<double, 1, 1> y1 = frc::RK4(
[](Eigen::Matrix<double, 1, 1> x) {
Eigen::Matrix<double, 1, 1> y;
y(0) = std::exp(x(0));
return y;
Eigen::Vector<double, 1> y1 = frc::RK4(
[](const Eigen::Vector<double, 1>& x) {
return Eigen::Vector<double, 1>{std::exp(x(0))};
},
y0, 0.1_s);
EXPECT_NEAR(y1(0), std::exp(0.1) - std::exp(0), 1e-3);
@@ -25,45 +22,36 @@ TEST(NumericalIntegrationTest, Exponential) {
// Tests that integrating dx/dt = e^x works when we provide a U.
TEST(NumericalIntegrationTest, ExponentialWithU) {
Eigen::Matrix<double, 1, 1> y0;
y0(0) = 0.0;
Eigen::Vector<double, 1> y0{0.0};
Eigen::Matrix<double, 1, 1> y1 = frc::RK4(
[](Eigen::Matrix<double, 1, 1> x, Eigen::Matrix<double, 1, 1> u) {
Eigen::Matrix<double, 1, 1> y;
y(0) = std::exp(u(0) * x(0));
return y;
Eigen::Vector<double, 1> y1 = frc::RK4(
[](const Eigen::Vector<double, 1>& x, const Eigen::Vector<double, 1>& u) {
return Eigen::Vector<double, 1>{std::exp(u(0) * x(0))};
},
y0, (Eigen::Matrix<double, 1, 1>() << 1.0).finished(), 0.1_s);
y0, Eigen::Vector<double, 1>{1.0}, 0.1_s);
EXPECT_NEAR(y1(0), std::exp(0.1) - std::exp(0), 1e-3);
}
// Tests that integrating dx/dt = e^x works with RKF45.
TEST(NumericalIntegrationTest, ExponentialRKF45) {
Eigen::Matrix<double, 1, 1> y0;
y0(0) = 0.0;
Eigen::Vector<double, 1> y0{0.0};
Eigen::Matrix<double, 1, 1> y1 = frc::RKF45(
[](Eigen::Matrix<double, 1, 1> x, Eigen::Matrix<double, 1, 1> u) {
Eigen::Matrix<double, 1, 1> y;
y(0) = std::exp(x(0));
return y;
Eigen::Vector<double, 1> y1 = frc::RKF45(
[](const Eigen::Vector<double, 1>& x, const Eigen::Vector<double, 1>& u) {
return Eigen::Vector<double, 1>{std::exp(x(0))};
},
y0, (Eigen::Matrix<double, 1, 1>() << 0.0).finished(), 0.1_s);
y0, Eigen::Vector<double, 1>{0.0}, 0.1_s);
EXPECT_NEAR(y1(0), std::exp(0.1) - std::exp(0), 1e-3);
}
// Tests that integrating dx/dt = e^x works with RKDP
TEST(NumericalIntegrationTest, ExponentialRKDP) {
Eigen::Matrix<double, 1, 1> y0;
y0(0) = 0.0;
Eigen::Vector<double, 1> y0{0.0};
Eigen::Matrix<double, 1, 1> y1 = frc::RKDP(
[](Eigen::Matrix<double, 1, 1> x, Eigen::Matrix<double, 1, 1> u) {
Eigen::Matrix<double, 1, 1> y;
y(0) = std::exp(x(0));
return y;
Eigen::Vector<double, 1> y1 = frc::RKDP(
[](const Eigen::Vector<double, 1>& x, const Eigen::Vector<double, 1>& u) {
return Eigen::Vector<double, 1>{std::exp(x(0))};
},
y0, (Eigen::Matrix<double, 1, 1>() << 0.0).finished(), 0.1_s);
y0, Eigen::Vector<double, 1>{0.0}, 0.1_s);
EXPECT_NEAR(y1(0), std::exp(0.1) - std::exp(0), 1e-3);
}