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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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28
wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
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@@ -6,10 +6,10 @@
#include <array>
#include <Eigen/Core>
#include <units/current.h>
#include <units/time.h>
#include "frc/EigenCore.h"
#include "frc/RobotController.h"
#include "frc/StateSpaceUtil.h"
#include "frc/system/LinearSystem.h"
@@ -40,9 +40,9 @@ class LinearSystemSim {
const LinearSystem<States, Inputs, Outputs>& system,
const std::array<double, Outputs>& measurementStdDevs = {})
: m_plant(system), m_measurementStdDevs(measurementStdDevs) {
m_x = Eigen::Vector<double, States>::Zero();
m_y = Eigen::Vector<double, Outputs>::Zero();
m_u = Eigen::Vector<double, Inputs>::Zero();
m_x = Vectord<States>::Zero();
m_y = Vectord<Outputs>::Zero();
m_u = Vectord<Inputs>::Zero();
}
virtual ~LinearSystemSim() = default;
@@ -71,7 +71,7 @@ class LinearSystemSim {
*
* @return The current output of the plant.
*/
const Eigen::Vector<double, Outputs>& GetOutput() const { return m_y; }
const Vectord<Outputs>& GetOutput() const { return m_y; }
/**
* Returns an element of the current output of the plant.
@@ -86,7 +86,7 @@ class LinearSystemSim {
*
* @param u The system inputs.
*/
void SetInput(const Eigen::Vector<double, Inputs>& u) { m_u = ClampInput(u); }
void SetInput(const Vectord<Inputs>& u) { m_u = ClampInput(u); }
/*
* Sets the system inputs.
@@ -104,7 +104,7 @@ class LinearSystemSim {
*
* @param state The new state.
*/
void SetState(const Eigen::Vector<double, States>& state) { m_x = state; }
void SetState(const Vectord<States>& state) { m_x = state; }
/**
* Returns the current drawn by this simulated system. Override this method to
@@ -124,9 +124,9 @@ class LinearSystemSim {
* @param u The system inputs (usually voltage).
* @param dt The time difference between controller updates.
*/
virtual Eigen::Vector<double, States> UpdateX(
const Eigen::Vector<double, States>& currentXhat,
const Eigen::Vector<double, Inputs>& u, units::second_t dt) {
virtual Vectord<States> UpdateX(const Vectord<States>& currentXhat,
const Vectord<Inputs>& u,
units::second_t dt) {
return m_plant.CalculateX(currentXhat, u, dt);
}
@@ -137,16 +137,16 @@ class LinearSystemSim {
* @param u The input vector.
* @return The normalized input.
*/
Eigen::Vector<double, Inputs> ClampInput(Eigen::Vector<double, Inputs> u) {
Vectord<Inputs> ClampInput(Vectord<Inputs> u) {
return frc::DesaturateInputVector<Inputs>(
u, frc::RobotController::GetInputVoltage());
}
LinearSystem<States, Inputs, Outputs> m_plant;
Eigen::Vector<double, States> m_x;
Eigen::Vector<double, Outputs> m_y;
Eigen::Vector<double, Inputs> m_u;
Vectord<States> m_x;
Vectord<Outputs> m_y;
Vectord<Inputs> m_u;
std::array<double, Outputs> m_measurementStdDevs;
};
} // namespace frc::sim