Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Remove unused SimpleMatrixUtils class (#5979)

Browse Source 
It looks like it was gradually replaced by JNI wrappers around Eigen.
This commit is contained in:
Tyler Veness
2023-11-30 21:12:43 -08:00
committed by GitHub
parent 0f9ebe92d9
commit e09be72ee0
2 changed files with 0 additions and 271 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java
View File

@@ -15,8 +15,6 @@ import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.wpilibj.UtilityClassTest;
import java.util.ArrayList;
import java.util.List;
import org.ejml.dense.row.MatrixFeatures_DDRM;
import org.ejml.simple.SimpleMatrix;
import org.junit.jupiter.api.Test;
class StateSpaceUtilTest extends UtilityClassTest<StateSpaceUtil> {
@@ -154,29 +152,6 @@ class StateSpaceUtilTest extends UtilityClassTest<StateSpaceUtil> {
1E-8));
}
@Test
void testSimpleMatrixExp() {
SimpleMatrix matrix = SimpleMatrixUtils.eye(2);
var result = SimpleMatrixUtils.exp(matrix);
assertTrue(
MatrixFeatures_DDRM.isIdentical(
result.getDDRM(),
new SimpleMatrix(2, 2, true, new double[] {Math.E, 0, 0, Math.E}).getDDRM(),
1E-9));
matrix = new SimpleMatrix(2, 2, true, new double[] {1, 2, 3, 4});
result = SimpleMatrixUtils.exp(matrix.scale(0.01));
assertTrue(
MatrixFeatures_DDRM.isIdentical(
result.getDDRM(),
new SimpleMatrix(
2, 2, true, new double[] {1.01035625, 0.02050912, 0.03076368, 1.04111993})
.getDDRM(),
1E-8));
}
@Test
void testPoseToVector() {
Pose2d pose = new Pose2d(1, 2, new Rotation2d(3));