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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
wpimath/src/main/native/cpp/StateSpaceUtil.cpp
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@@ -6,33 +6,31 @@
namespace frc {
Eigen::Vector<double, 3> PoseTo3dVector(const Pose2d& pose) {
return Eigen::Vector<double, 3>{pose.Translation().X().value(),
pose.Translation().Y().value(),
pose.Rotation().Radians().value()};
Vectord<3> PoseTo3dVector(const Pose2d& pose) {
return Vectord<3>{pose.Translation().X().value(),
pose.Translation().Y().value(),
pose.Rotation().Radians().value()};
}
Eigen::Vector<double, 4> PoseTo4dVector(const Pose2d& pose) {
return Eigen::Vector<double, 4>{pose.Translation().X().value(),
pose.Translation().Y().value(),
pose.Rotation().Cos(), pose.Rotation().Sin()};
Vectord<4> PoseTo4dVector(const Pose2d& pose) {
return Vectord<4>{pose.Translation().X().value(),
pose.Translation().Y().value(), pose.Rotation().Cos(),
pose.Rotation().Sin()};
}
template <>
bool IsStabilizable<1, 1>(const Eigen::Matrix<double, 1, 1>& A,
const Eigen::Matrix<double, 1, 1>& B) {
bool IsStabilizable<1, 1>(const Matrixd<1, 1>& A, const Matrixd<1, 1>& B) {
return detail::IsStabilizableImpl<1, 1>(A, B);
}
template <>
bool IsStabilizable<2, 1>(const Eigen::Matrix<double, 2, 2>& A,
const Eigen::Matrix<double, 2, 1>& B) {
bool IsStabilizable<2, 1>(const Matrixd<2, 2>& A, const Matrixd<2, 1>& B) {
return detail::IsStabilizableImpl<2, 1>(A, B);
}
Eigen::Vector<double, 3> PoseToVector(const Pose2d& pose) {
return Eigen::Vector<double, 3>{pose.X().value(), pose.Y().value(),
pose.Rotation().Radians().value()};
Vectord<3> PoseToVector(const Pose2d& pose) {
return Vectord<3>{pose.X().value(), pose.Y().value(),
pose.Rotation().Radians().value()};
}
} // namespace frc