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[wpimath] Replace frc/EigenCore.h typedefs with Eigen's where possible (#5597)

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This commit is contained in:
Tyler Veness
2023-08-31 11:03:37 -07:00
committed by GitHub
parent 383289bc4b
commit 99f66b1e24
25 changed files with 79 additions and 80 deletions
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5
wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
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@@ -41,7 +41,8 @@ DifferentialDrivetrainSim::DifferentialDrivetrainSim(
driveMotor, mass, wheelRadius, trackWidth / 2.0, J, gearing),
trackWidth, driveMotor, gearing, wheelRadius, measurementStdDevs) {}
Vectord<2> DifferentialDrivetrainSim::ClampInput(const Vectord<2>& u) {
Eigen::Vector2d DifferentialDrivetrainSim::ClampInput(
const Eigen::Vector2d& u) {
return frc::DesaturateInputVector<2>(u,
frc::RobotController::GetInputVoltage());
}
@@ -128,7 +129,7 @@ void DifferentialDrivetrainSim::SetPose(const frc::Pose2d& pose) {
}
Vectord<7> DifferentialDrivetrainSim::Dynamics(const Vectord<7>& x,
const Vectord<2>& u) {
const Eigen::Vector2d& u) {
// Because G² can be factored out of A, we can divide by the old ratio
// squared and multiply by the new ratio squared to get a new drivetrain
// model.