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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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6
wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
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@@ -80,7 +80,7 @@ class DifferentialDrivetrainSim {
* @param u The input vector.
* @return The normalized input.
*/
Vectord<2> ClampInput(const Vectord<2>& u);
Eigen::Vector2d ClampInput(const Eigen::Vector2d& u);
/**
* Sets the applied voltage to the drivetrain. Note that positive voltage must
@@ -187,7 +187,7 @@ class DifferentialDrivetrainSim {
*/
void SetPose(const frc::Pose2d& pose);
Vectord<7> Dynamics(const Vectord<7>& x, const Vectord<2>& u);
Vectord<7> Dynamics(const Vectord<7>& x, const Eigen::Vector2d& u);
class State {
public:
@@ -325,7 +325,7 @@ class DifferentialDrivetrainSim {
double m_currentGearing;
Vectord<7> m_x;
Vectord<2> m_u;
Eigen::Vector2d m_u;
Vectord<7> m_y;
std::array<double, 7> m_measurementStdDevs;
};