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

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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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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;
}