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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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18
wpimath/src/test/native/cpp/system/RungeKuttaTimeVaryingTest.cpp
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@@ -9,10 +9,9 @@
#include "frc/system/RungeKuttaTimeVarying.h"
namespace {
Eigen::Matrix<double, 1, 1> RungeKuttaTimeVaryingSolution(double t) {
return (Eigen::Matrix<double, 1, 1>()
<< 12.0 * std::exp(t) / (std::pow(std::exp(t) + 1.0, 2.0)))
.finished();
Eigen::Vector<double, 1> RungeKuttaTimeVaryingSolution(double t) {
return Eigen::Vector<double, 1>{12.0 * std::exp(t) /
(std::pow(std::exp(t) + 1.0, 2.0))};
}
} // namespace
@@ -24,13 +23,12 @@ Eigen::Matrix<double, 1, 1> RungeKuttaTimeVaryingSolution(double t) {
//
// x(t) = 12 * e^t / ((e^t + 1)^2)
TEST(RungeKuttaTimeVaryingTest, RungeKuttaTimeVarying) {
Eigen::Matrix<double, 1, 1> y0 = RungeKuttaTimeVaryingSolution(5.0);
Eigen::Vector<double, 1> y0 = RungeKuttaTimeVaryingSolution(5.0);
Eigen::Matrix<double, 1, 1> y1 = frc::RungeKuttaTimeVarying(
[](units::second_t t, Eigen::Matrix<double, 1, 1> x) {
return (Eigen::Matrix<double, 1, 1>()
<< x(0) * (2.0 / (std::exp(t.to<double>()) + 1.0) - 1.0))
.finished();
Eigen::Vector<double, 1> y1 = frc::RungeKuttaTimeVarying(
[](units::second_t t, const Eigen::Vector<double, 1>& x) {
return Eigen::Vector<double, 1>{
x(0) * (2.0 / (std::exp(t.to<double>()) + 1.0) - 1.0)};
},
5_s, y0, 1_s);
EXPECT_NEAR(y1(0), RungeKuttaTimeVaryingSolution(6.0)(0), 1e-3);