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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/test/native/cpp/simulation/ElevatorSimTest.cpp
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@@ -34,8 +34,7 @@ TEST(ElevatorSimTest, StateSpaceSim) {
auto nextVoltage = controller.Calculate(encoderSim.GetDistance());
motor.Set(nextVoltage / frc::RobotController::GetInputVoltage());
Eigen::Vector<double, 1> u{motor.Get() *
frc::RobotController::GetInputVoltage()};
frc::Vectord<1> u{motor.Get() * frc::RobotController::GetInputVoltage()};
sim.SetInput(u);
sim.Update(20_ms);
@@ -51,7 +50,7 @@ TEST(ElevatorSimTest, MinMax) {
units::meter_t(0.75 * 25.4 / 1000.0), 0_m, 1_m,
true, {0.01});
for (size_t i = 0; i < 100; ++i) {
sim.SetInput(Eigen::Vector<double, 1>{0.0});
sim.SetInput(frc::Vectord<1>{0.0});
sim.Update(20_ms);
auto height = sim.GetPosition();
@@ -59,7 +58,7 @@ TEST(ElevatorSimTest, MinMax) {
}
for (size_t i = 0; i < 100; ++i) {
sim.SetInput(Eigen::Vector<double, 1>{12.0});
sim.SetInput(frc::Vectord<1>{12.0});
sim.Update(20_ms);
auto height = sim.GetPosition();
@@ -71,16 +70,16 @@ TEST(ElevatorSimTest, Stability) {
frc::sim::ElevatorSim sim{
frc::DCMotor::Vex775Pro(4), 100, 4_kg, 0.5_in, 0_m, 10_m, true};
sim.SetState(Eigen::Vector<double, 2>{0.0, 0.0});
sim.SetInput(Eigen::Vector<double, 1>{12.0});
sim.SetState(frc::Vectord<2>{0.0, 0.0});
sim.SetInput(frc::Vectord<1>{12.0});
for (int i = 0; i < 50; ++i) {
sim.Update(20_ms);
}
frc::LinearSystem<2, 1, 1> system = frc::LinearSystemId::ElevatorSystem(
frc::DCMotor::Vex775Pro(4), 4_kg, 0.5_in, 100);
EXPECT_NEAR_UNITS(units::meter_t{system.CalculateX(
Eigen::Vector<double, 2>{0.0, 0.0},
Eigen::Vector<double, 1>{12.0}, 20_ms * 50)(0)},
sim.GetPosition(), 1_cm);
EXPECT_NEAR_UNITS(
units::meter_t{system.CalculateX(frc::Vectord<2>{0.0, 0.0},
frc::Vectord<1>{12.0}, 20_ms * 50)(0)},
sim.GetPosition(), 1_cm);
}