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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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19
wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
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@@ -4,11 +4,11 @@
#pragma once
#include <frc/EigenCore.h>
#include <frc/kinematics/DifferentialDriveKinematics.h>
#include <frc/system/LinearSystem.h>
#include <frc/system/plant/DCMotor.h>
#include <Eigen/Core>
#include <units/length.h>
#include <units/moment_of_inertia.h>
#include <units/time.h>
@@ -80,7 +80,7 @@ class DifferentialDrivetrainSim {
* @param u The input vector.
* @return The normalized input.
*/
Eigen::Vector<double, 2> ClampInput(const Eigen::Vector<double, 2>& u);
Vectord<2> ClampInput(const Vectord<2>& u);
/**
* Sets the applied voltage to the drivetrain. Note that positive voltage must
@@ -178,7 +178,7 @@ class DifferentialDrivetrainSim {
*
* @param state The state.
*/
void SetState(const Eigen::Vector<double, 7>& state);
void SetState(const Vectord<7>& state);
/**
* Sets the system pose.
@@ -187,8 +187,7 @@ class DifferentialDrivetrainSim {
*/
void SetPose(const frc::Pose2d& pose);
Eigen::Vector<double, 7> Dynamics(const Eigen::Vector<double, 7>& x,
const Eigen::Vector<double, 2>& u);
Vectord<7> Dynamics(const Vectord<7>& x, const Vectord<2>& u);
class State {
public:
@@ -301,7 +300,7 @@ class DifferentialDrivetrainSim {
/**
* Returns the current output vector y.
*/
Eigen::Vector<double, 7> GetOutput() const;
Vectord<7> GetOutput() const;
/**
* Returns an element of the state vector. Note that this will not include
@@ -314,7 +313,7 @@ class DifferentialDrivetrainSim {
/**
* Returns the current state vector x. Note that this will not include noise!
*/
Eigen::Vector<double, 7> GetState() const;
Vectord<7> GetState() const;
LinearSystem<2, 2, 2> m_plant;
units::meter_t m_rb;
@@ -325,9 +324,9 @@ class DifferentialDrivetrainSim {
double m_originalGearing;
double m_currentGearing;
Eigen::Vector<double, 7> m_x;
Eigen::Vector<double, 2> m_u;
Eigen::Vector<double, 7> m_y;
Vectord<7> m_x;
Vectord<2> m_u;
Vectord<7> m_y;
std::array<double, 7> m_measurementStdDevs;
};
} // namespace frc::sim