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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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25
wpimath/src/main/native/include/frc/controller/ImplicitModelFollower.h
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@@ -6,8 +6,8 @@
#include <frc/system/LinearSystem.h>
#include "Eigen/Core"
#include "Eigen/QR"
#include "frc/EigenCore.h"
#include "units/time.h"
namespace frc {
@@ -27,6 +27,9 @@ namespace frc {
template <int States, int Inputs>
class ImplicitModelFollower {
public:
using StateVector = Vectord<States>;
using InputVector = Vectord<Inputs>;
/**
* Constructs a controller with the given coefficients and plant.
*
@@ -47,10 +50,10 @@ class ImplicitModelFollower {
* @param Aref Continuous system matrix whose dynamics should be followed.
* @param Bref Continuous input matrix whose dynamics should be followed.
*/
ImplicitModelFollower(const Eigen::Matrix<double, States, States>& A,
const Eigen::Matrix<double, States, Inputs>& B,
const Eigen::Matrix<double, States, States>& Aref,
const Eigen::Matrix<double, States, Inputs>& Bref) {
ImplicitModelFollower(const Matrixd<States, States>& A,
const Matrixd<States, Inputs>& B,
const Matrixd<States, States>& Aref,
const Matrixd<States, Inputs>& Bref) {
// Find u_imf that makes real model match reference model.
//
// dx/dt = Ax + Bu_imf
@@ -79,7 +82,7 @@ class ImplicitModelFollower {
*
* @return The control input.
*/
const Eigen::Vector<double, Inputs>& U() const { return m_u; }
const InputVector& U() const { return m_u; }
/**
* Returns an element of the control input vector u.
@@ -101,22 +104,20 @@ class ImplicitModelFollower {
* @param x The current state x.
* @param u The current input for the original model.
*/
Eigen::Vector<double, Inputs> Calculate(
const Eigen::Vector<double, States>& x,
const Eigen::Vector<double, Inputs>& u) {
InputVector Calculate(const StateVector& x, const InputVector& u) {
m_u = m_A * x + m_B * u;
return m_u;
}
private:
// Computed controller output
Eigen::Vector<double, Inputs> m_u;
InputVector m_u;
// State space conversion gain
Eigen::Matrix<double, Inputs, States> m_A;
Matrixd<Inputs, States> m_A;
// Input space conversion gain
Eigen::Matrix<double, Inputs, Inputs> m_B;
Matrixd<Inputs, Inputs> m_B;
};
} // namespace frc