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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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5
wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
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@@ -142,9 +142,8 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
* @param u The system inputs (voltage).
* @param dt The time difference between controller updates.
*/
Eigen::Vector<double, 2> UpdateX(const Eigen::Vector<double, 2>& currentXhat,
const Eigen::Vector<double, 1>& u,
units::second_t dt) override;
Vectord<2> UpdateX(const Vectord<2>& currentXhat, const Vectord<1>& u,
units::second_t dt) override;
private:
units::meter_t m_r;