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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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14
wpimath/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp
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@@ -25,8 +25,7 @@ MecanumDriveWheelSpeeds MecanumDriveKinematics::ToWheelSpeeds(
chassisSpeeds.vy.value(),
chassisSpeeds.omega.value()};
Eigen::Vector<double, 4> wheelsVector =
m_inverseKinematics * chassisSpeedsVector;
Vectord<4> wheelsVector = m_inverseKinematics * chassisSpeedsVector;
MecanumDriveWheelSpeeds wheelSpeeds;
wheelSpeeds.frontLeft = units::meters_per_second_t{wheelsVector(0)};
@@ -38,7 +37,7 @@ MecanumDriveWheelSpeeds MecanumDriveKinematics::ToWheelSpeeds(
ChassisSpeeds MecanumDriveKinematics::ToChassisSpeeds(
const MecanumDriveWheelSpeeds& wheelSpeeds) const {
Eigen::Vector<double, 4> wheelSpeedsVector{
Vectord<4> wheelSpeedsVector{
wheelSpeeds.frontLeft.value(), wheelSpeeds.frontRight.value(),
wheelSpeeds.rearLeft.value(), wheelSpeeds.rearRight.value()};
@@ -54,9 +53,8 @@ void MecanumDriveKinematics::SetInverseKinematics(Translation2d fl,
Translation2d fr,
Translation2d rl,
Translation2d rr) const {
m_inverseKinematics =
Eigen::Matrix<double, 4, 3>{{1, -1, (-(fl.X() + fl.Y())).value()},
{1, 1, (fr.X() - fr.Y()).value()},
{1, 1, (rl.X() - rl.Y()).value()},
{1, -1, (-(rr.X() + rr.Y())).value()}};
m_inverseKinematics = Matrixd<4, 3>{{1, -1, (-(fl.X() + fl.Y())).value()},
{1, 1, (fr.X() - fr.Y()).value()},
{1, 1, (rl.X() - rl.Y()).value()},
{1, -1, (-(rr.X() + rr.Y())).value()}};
}