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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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8
wpilibc/src/test/native/cpp/simulation/DifferentialDrivetrainSimTest.cpp
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@@ -30,10 +30,10 @@ TEST(DifferentialDrivetrainSimTest, Convergence) {
frc::LinearPlantInversionFeedforward feedforward{plant, 20_ms};
frc::RamseteController ramsete;
feedforward.Reset(Eigen::Vector<double, 2>{0.0, 0.0});
feedforward.Reset(frc::Vectord<2>{0.0, 0.0});
// Ground truth.
Eigen::Vector<double, 7> groundTruthX = Eigen::Vector<double, 7>::Zero();
frc::Vectord<7> groundTruthX = frc::Vectord<7>::Zero();
frc::TrajectoryConfig config{1_mps, 1_mps_sq};
config.AddConstraint(
@@ -48,7 +48,7 @@ TEST(DifferentialDrivetrainSimTest, Convergence) {
auto [l, r] = kinematics.ToWheelSpeeds(ramseteOut);
auto voltages =
feedforward.Calculate(Eigen::Vector<double, 2>{l.value(), r.value()});
feedforward.Calculate(frc::Vectord<2>{l.value(), r.value()});
// Sim periodic code.
sim.SetInputs(units::volt_t(voltages(0, 0)), units::volt_t(voltages(1, 0)));
@@ -56,7 +56,7 @@ TEST(DifferentialDrivetrainSimTest, Convergence) {
// Update ground truth.
groundTruthX = frc::RK4(
[&sim](const auto& x, const auto& u) -> Eigen::Vector<double, 7> {
[&sim](const auto& x, const auto& u) -> frc::Vectord<7> {
return sim.Dynamics(x, u);
},
groundTruthX, voltages, 20_ms);