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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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22
wpimath/src/main/native/cpp/StateSpaceUtil.cpp
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@@ -6,16 +6,16 @@
namespace frc {
Vectord<3> PoseTo3dVector(const Pose2d& pose) {
return Vectord<3>{pose.Translation().X().value(),
pose.Translation().Y().value(),
pose.Rotation().Radians().value()};
Eigen::Vector3d PoseTo3dVector(const Pose2d& pose) {
return Eigen::Vector3d{pose.Translation().X().value(),
pose.Translation().Y().value(),
pose.Rotation().Radians().value()};
}
Vectord<4> PoseTo4dVector(const Pose2d& pose) {
return Vectord<4>{pose.Translation().X().value(),
pose.Translation().Y().value(), pose.Rotation().Cos(),
pose.Rotation().Sin()};
Eigen::Vector4d PoseTo4dVector(const Pose2d& pose) {
return Eigen::Vector4d{pose.Translation().X().value(),
pose.Translation().Y().value(), pose.Rotation().Cos(),
pose.Rotation().Sin()};
}
template <>
@@ -34,9 +34,9 @@ bool IsStabilizable<Eigen::Dynamic, Eigen::Dynamic>(const Eigen::MatrixXd& A,
return detail::IsStabilizableImpl<Eigen::Dynamic, Eigen::Dynamic>(A, B);
}
Vectord<3> PoseToVector(const Pose2d& pose) {
return Vectord<3>{pose.X().value(), pose.Y().value(),
pose.Rotation().Radians().value()};
Eigen::Vector3d PoseToVector(const Pose2d& pose) {
return Eigen::Vector3d{pose.X().value(), pose.Y().value(),
pose.Rotation().Radians().value()};
}
} // namespace frc