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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
wpimath/src/main/native/include/frc/StateSpaceUtil.h
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@@ -226,7 +226,7 @@ Vectord<N> MakeWhiteNoiseVector(const std::array<double, N>& stdDevs) {
* @return The vector.
*/
WPILIB_DLLEXPORT
Vectord<3> PoseTo3dVector(const Pose2d& pose);
Eigen::Vector3d PoseTo3dVector(const Pose2d& pose);
/**
* Converts a Pose2d into a vector of [x, y, std::cos(theta), std::sin(theta)].
@@ -236,7 +236,7 @@ Vectord<3> PoseTo3dVector(const Pose2d& pose);
* @return The vector.
*/
WPILIB_DLLEXPORT
Vectord<4> PoseTo4dVector(const Pose2d& pose);
Eigen::Vector4d PoseTo4dVector(const Pose2d& pose);
/**
* Returns true if (A, B) is a stabilizable pair.
@@ -301,7 +301,7 @@ WPILIB_DLLEXPORT bool IsStabilizable<Eigen::Dynamic, Eigen::Dynamic>(
* @return The vector.
*/
WPILIB_DLLEXPORT
Vectord<3> PoseToVector(const Pose2d& pose);
Eigen::Vector3d PoseToVector(const Pose2d& pose);
/**
* Clamps input vector between system's minimum and maximum allowable input.

1
wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
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@@ -9,7 +9,6 @@
#include <wpi/SymbolExports.h>
#include <wpi/array.h>
#include "frc/EigenCore.h"
#include "frc/estimator/PoseEstimator.h"
#include "frc/geometry/Pose2d.h"
#include "frc/geometry/Rotation2d.h"

2
wpimath/src/main/native/include/frc/estimator/PoseEstimator.h
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@@ -4,10 +4,10 @@
#pragma once
#include <Eigen/Core>
#include <wpi/SymbolExports.h>
#include <wpi/array.h>
#include "frc/EigenCore.h"
#include "frc/geometry/Pose2d.h"
#include "frc/geometry/Rotation2d.h"
#include "frc/interpolation/TimeInterpolatableBuffer.h"

4
wpimath/src/main/native/include/frc/estimator/PoseEstimator.inc
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@@ -81,9 +81,9 @@ void PoseEstimator<WheelSpeeds, WheelPositions>::AddVisionMeasurement(
// Step 3: We should not trust the twist entirely, so instead we scale this
// twist by a Kalman gain matrix representing how much we trust vision
// measurements compared to our current pose.
Vectord<3> k_times_twist =
Eigen::Vector3d k_times_twist =
m_visionK *
Vectord<3>{twist.dx.value(), twist.dy.value(), twist.dtheta.value()};
Eigen::Vector3d{twist.dx.value(), twist.dy.value(), twist.dtheta.value()};
// Step 4: Convert back to Twist2d
Twist2d scaledTwist{units::meter_t{k_times_twist(0)},

4
wpimath/src/main/native/include/frc/geometry/CoordinateAxis.h
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@@ -4,9 +4,9 @@
#pragma once
#include <Eigen/Core>
#include <wpi/SymbolExports.h>
#include "frc/EigenCore.h"
#include "frc/geometry/Pose3d.h"
#include "frc/geometry/Rotation3d.h"
@@ -67,7 +67,7 @@ class WPILIB_DLLEXPORT CoordinateAxis {
private:
friend class CoordinateSystem;
Vectord<3> m_axis;
Eigen::Vector3d m_axis;
};
} // namespace frc

1
wpimath/src/main/native/include/frc/geometry/CoordinateSystem.h
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@@ -6,7 +6,6 @@
#include <wpi/SymbolExports.h>
#include "frc/EigenCore.h"
#include "frc/geometry/CoordinateAxis.h"
#include "frc/geometry/Pose3d.h"
#include "frc/geometry/Rotation3d.h"

3
wpimath/src/main/native/include/frc/geometry/Quaternion.h
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@@ -4,10 +4,9 @@
#pragma once
#include <Eigen/Core>
#include <wpi/SymbolExports.h>
#include "frc/EigenCore.h"
namespace wpi {
class json;
} // namespace wpi

8
wpimath/src/main/native/include/frc/geometry/Rotation3d.h
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@@ -4,9 +4,9 @@
#pragma once
#include <Eigen/Core>
#include <wpi/SymbolExports.h>
#include "frc/EigenCore.h"
#include "frc/geometry/Quaternion.h"
#include "frc/geometry/Rotation2d.h"
#include "units/angle.h"
@@ -57,7 +57,7 @@ class WPILIB_DLLEXPORT Rotation3d {
* @param axis The rotation axis.
* @param angle The rotation around the axis.
*/
Rotation3d(const Vectord<3>& axis, units::radian_t angle);
Rotation3d(const Eigen::Vector3d& axis, units::radian_t angle);
/**
* Constructs a Rotation3d with the given rotation vector representation. This
@@ -86,7 +86,7 @@ class WPILIB_DLLEXPORT Rotation3d {
* @param initial The initial vector.
* @param final The final vector.
*/
Rotation3d(const Vectord<3>& initial, const Vectord<3>& final);
Rotation3d(const Eigen::Vector3d& initial, const Eigen::Vector3d& final);
/**
* Adds two rotations together.
@@ -173,7 +173,7 @@ class WPILIB_DLLEXPORT Rotation3d {
/**
* Returns the axis in the axis-angle representation of this rotation.
*/
Vectord<3> Axis() const;
Eigen::Vector3d Axis() const;
/**
* Returns the angle in the axis-angle representation of this rotation.

10
wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
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@@ -49,7 +49,7 @@ class WPILIB_DLLEXPORT CubicHermiteSpline : public Spline<3> {
* Returns the hermite basis matrix for cubic hermite spline interpolation.
* @return The hermite basis matrix for cubic hermite spline interpolation.
*/
static Matrixd<4, 4> MakeHermiteBasis() {
static Eigen::Matrix4d MakeHermiteBasis() {
// Given P(i), P'(i), P(i+1), P'(i+1), the control vectors, we want to find
// the coefficients of the spline P(t) = a₃t³ + a₂t² + a₁t + a₀.
//
@@ -71,10 +71,10 @@ class WPILIB_DLLEXPORT CubicHermiteSpline : public Spline<3> {
// [a₁] = [ 0 1 0 0][P(i+1) ]
// [a₀] = [ 1 0 0 0][P'(i+1)]
static const Matrixd<4, 4> basis{{+2.0, +1.0, -2.0, +1.0},
{-3.0, -2.0, +3.0, -1.0},
{+0.0, +1.0, +0.0, +0.0},
{+1.0, +0.0, +0.0, +0.0}};
static const Eigen::Matrix4d basis{{+2.0, +1.0, -2.0, +1.0},
{-3.0, -2.0, +3.0, -1.0},
{+0.0, +1.0, +0.0, +0.0},
{+1.0, +0.0, +0.0, +0.0}};
return basis;
}

5
wpimath/src/main/native/include/frc/system/NumericalIntegration.h
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@@ -4,12 +4,9 @@
#pragma once
#include <frc/StateSpaceUtil.h>
#include <algorithm>
#include <array>
#include <Eigen/Core>
#include <cmath>
#include "units/time.h"