Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

8
wpimath/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp
View File

@@ -25,7 +25,7 @@ MecanumDriveWheelSpeeds MecanumDriveKinematics::ToWheelSpeeds(
chassisSpeeds.vy.value(),
chassisSpeeds.omega.value()};
Vectord<4> wheelsVector = m_inverseKinematics * chassisSpeedsVector;
Eigen::Vector4d wheelsVector = m_inverseKinematics * chassisSpeedsVector;
MecanumDriveWheelSpeeds wheelSpeeds;
wheelSpeeds.frontLeft = units::meters_per_second_t{wheelsVector(0)};
@@ -37,7 +37,7 @@ MecanumDriveWheelSpeeds MecanumDriveKinematics::ToWheelSpeeds(
ChassisSpeeds MecanumDriveKinematics::ToChassisSpeeds(
const MecanumDriveWheelSpeeds& wheelSpeeds) const {
Vectord<4> wheelSpeedsVector{
Eigen::Vector4d wheelSpeedsVector{
wheelSpeeds.frontLeft.value(), wheelSpeeds.frontRight.value(),
wheelSpeeds.rearLeft.value(), wheelSpeeds.rearRight.value()};
@@ -52,7 +52,7 @@ ChassisSpeeds MecanumDriveKinematics::ToChassisSpeeds(
Twist2d MecanumDriveKinematics::ToTwist2d(
const MecanumDriveWheelPositions& start,
const MecanumDriveWheelPositions& end) const {
Vectord<4> wheelDeltasVector{
Eigen::Vector4d wheelDeltasVector{
end.frontLeft.value() - start.frontLeft.value(),
end.frontRight.value() - start.frontRight.value(),
end.rearLeft.value() - start.rearLeft.value(),
@@ -66,7 +66,7 @@ Twist2d MecanumDriveKinematics::ToTwist2d(
Twist2d MecanumDriveKinematics::ToTwist2d(
const MecanumDriveWheelPositions& wheelDeltas) const {
Vectord<4> wheelDeltasVector{
Eigen::Vector4d wheelDeltasVector{
wheelDeltas.frontLeft.value(), wheelDeltas.frontRight.value(),
wheelDeltas.rearLeft.value(), wheelDeltas.rearRight.value()};