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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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wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
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@@ -10,10 +10,10 @@
TEST(SingleJointedArmTest, Disabled) {
frc::sim::SingleJointedArmSim sim(frc::DCMotor::Vex775Pro(2), 100, 3_kg_sq_m,
9.5_in, -180_deg, 0_deg, 10_lb, true);
sim.SetState(Eigen::Vector<double, 2>{0.0, 0.0});
sim.SetState(frc::Vectord<2>{0.0, 0.0});
for (size_t i = 0; i < 12 / 0.02; ++i) {
sim.SetInput(Eigen::Vector<double, 1>{0.0});
sim.SetInput(frc::Vectord<1>{0.0});
sim.Update(20_ms);
}