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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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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.