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[wpimath] Add typedefs for common types

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This makes complex code significantly easier to read.

frc::Vectord<Size> = Eigen::Vector<double, Size>
frc::Matrixd<Rows, Cols> = Eigen::Matrix<double, Rows, Cols>
This commit is contained in:
Peter Johnson
2022-04-29 22:29:20 -07:00
parent 97c493241f
commit e767605e94
76 changed files with 1136 additions and 1449 deletions
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25
wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
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@@ -72,12 +72,12 @@ units::ampere_t SingleJointedArmSim::GetCurrentDraw() const {
}
void SingleJointedArmSim::SetInputVoltage(units::volt_t voltage) {
SetInput(Eigen::Vector<double, 1>{voltage.value()});
SetInput(Vectord<1>{voltage.value()});
}
Eigen::Vector<double, 2> SingleJointedArmSim::UpdateX(
const Eigen::Vector<double, 2>& currentXhat,
const Eigen::Vector<double, 1>& u, units::second_t dt) {
Vectord<2> SingleJointedArmSim::UpdateX(const Vectord<2>& currentXhat,
const Vectord<1>& u,
units::second_t dt) {
// Horizontal case:
// Torque = F * r = I * alpha
// alpha = F * r / I
@@ -88,15 +88,14 @@ Eigen::Vector<double, 2> SingleJointedArmSim::UpdateX(
// We therefore find that f(x, u) = Ax + Bu + [[0] [m * g * r / I *
// std::cos(theta)]]
Eigen::Vector<double, 2> updatedXhat = RKDP(
[&](const auto& x, const auto& u) -> Eigen::Vector<double, 2> {
Eigen::Vector<double, 2> xdot = m_plant.A() * x + m_plant.B() * u;
Vectord<2> updatedXhat = RKDP(
[&](const auto& x, const auto& u) -> Vectord<2> {
Vectord<2> xdot = m_plant.A() * x + m_plant.B() * u;
if (m_simulateGravity) {
xdot += Eigen::Vector<double, 2>{
0.0, (m_armMass * m_r * -9.8 * 3.0 / (m_armMass * m_r * m_r) *
std::cos(x(0)))
.value()};
xdot += Vectord<2>{0.0, (m_armMass * m_r * -9.8 * 3.0 /
(m_armMass * m_r * m_r) * std::cos(x(0)))
.value()};
}
return xdot;
},
@@ -104,9 +103,9 @@ Eigen::Vector<double, 2> SingleJointedArmSim::UpdateX(
// Check for collisions.
if (WouldHitLowerLimit(units::radian_t(updatedXhat(0)))) {
return Eigen::Vector<double, 2>{m_minAngle.value(), 0.0};
return Vectord<2>{m_minAngle.value(), 0.0};
} else if (WouldHitUpperLimit(units::radian_t(updatedXhat(0)))) {
return Eigen::Vector<double, 2>{m_maxAngle.value(), 0.0};
return Vectord<2>{m_maxAngle.value(), 0.0};
}
return updatedXhat;
}