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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/test/native/cpp/EigenTest.cpp
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@@ -30,17 +30,17 @@ TEST(EigenTest, Multiplication) {
}
TEST(EigenTest, Transpose) {
frc::Vectord<3> vec{1, 2, 3};
Eigen::Vector3d vec{1, 2, 3};
const auto transpose = vec.transpose();
Eigen::RowVector<double, 3> expectedTranspose{1, 2, 3};
Eigen::RowVector3d expectedTranspose{1, 2, 3};
EXPECT_TRUE(expectedTranspose.isApprox(transpose));
}
TEST(EigenTest, Inverse) {
frc::Matrixd<3, 3> mat{{1.0, 3.0, 2.0}, {5.0, 2.0, 1.5}, {0.0, 1.3, 2.5}};
Eigen::Matrix3d mat{{1.0, 3.0, 2.0}, {5.0, 2.0, 1.5}, {0.0, 1.3, 2.5}};
const auto inverse = mat.inverse();
const auto identity = Eigen::MatrixXd::Identity(3, 3);