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[wpimath] Replace constexpr coeff() and coeffRef() with operator() (#7391)

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This commit is contained in:
Tyler Veness
2024-11-16 07:44:20 -08:00
committed by GitHub
parent ca51197486
commit aa7dd258c4
74 changed files with 1953 additions and 1329 deletions
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25
wpimath/src/main/native/include/frc/StateSpaceUtil.h
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@@ -41,7 +41,7 @@ constexpr Matrixd<sizeof...(Ts), sizeof...(Ts)> MakeCostMatrix(
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
if (row != col) {
result.coeffRef(row, col) = 0.0;
result(row, col) = 0.0;
}
}
}
@@ -49,9 +49,9 @@ constexpr Matrixd<sizeof...(Ts), sizeof...(Ts)> MakeCostMatrix(
wpi::for_each(
[&](int i, double tolerance) {
if (tolerance == std::numeric_limits<double>::infinity()) {
result.coeffRef(i, i) = 0.0;
result(i, i) = 0.0;
} else {
result.coeffRef(i, i) = 1.0 / (tolerance * tolerance);
result(i, i) = 1.0 / (tolerance * tolerance);
}
},
tolerances...);
@@ -78,14 +78,13 @@ constexpr Matrixd<sizeof...(Ts), sizeof...(Ts)> MakeCovMatrix(Ts... stdDevs) {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
if (row != col) {
result.coeffRef(row, col) = 0.0;
result(row, col) = 0.0;
}
}
}
wpi::for_each(
[&](int i, double stdDev) { result.coeffRef(i, i) = stdDev * stdDev; },
stdDevs...);
wpi::for_each([&](int i, double stdDev) { result(i, i) = stdDev * stdDev; },
stdDevs...);
return result;
}
@@ -111,12 +110,12 @@ constexpr Matrixd<N, N> MakeCostMatrix(const std::array<double, N>& costs) {
for (int col = 0; col < result.cols(); ++col) {
if (row == col) {
if (costs[row] == std::numeric_limits<double>::infinity()) {
result.coeffRef(row, col) = 0.0;
result(row, col) = 0.0;
} else {
result.coeffRef(row, col) = 1.0 / (costs[row] * costs[row]);
result(row, col) = 1.0 / (costs[row] * costs[row]);
}
} else {
result.coeffRef(row, col) = 0.0;
result(row, col) = 0.0;
}
}
}
@@ -143,9 +142,9 @@ constexpr Matrixd<N, N> MakeCovMatrix(const std::array<double, N>& stdDevs) {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
if (row == col) {
result.coeffRef(row, col) = stdDevs[row] * stdDevs[row];
result(row, col) = stdDevs[row] * stdDevs[row];
} else {
result.coeffRef(row, col) = 0.0;
result(row, col) = 0.0;
}
}
}
@@ -334,7 +333,7 @@ constexpr Vectord<Inputs> ClampInputMaxMagnitude(const Vectord<Inputs>& u,
const Vectord<Inputs>& umax) {
Vectord<Inputs> result;
for (int i = 0; i < Inputs; ++i) {
result.coeffRef(i) = std::clamp(u.coeff(i), umin.coeff(i), umax.coeff(i));
result(i) = std::clamp(u(i), umin(i), umax(i));
}
return result;
}