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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
wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
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@@ -7,7 +7,7 @@
#include <wpi/SymbolExports.h>
#include <wpi/array.h>
#include "Eigen/Core"
#include "frc/EigenCore.h"
#include "frc/spline/Spline.h"
namespace frc {
@@ -40,19 +40,16 @@ class WPILIB_DLLEXPORT CubicHermiteSpline : public Spline<3> {
* Returns the coefficients matrix.
* @return The coefficients matrix.
*/
Eigen::Matrix<double, 6, 3 + 1> Coefficients() const override {
return m_coefficients;
}
Matrixd<6, 3 + 1> Coefficients() const override { return m_coefficients; }
private:
Eigen::Matrix<double, 6, 4> m_coefficients =
Eigen::Matrix<double, 6, 4>::Zero();
Matrixd<6, 4> m_coefficients = Matrixd<6, 4>::Zero();
/**
* Returns the hermite basis matrix for cubic hermite spline interpolation.
* @return The hermite basis matrix for cubic hermite spline interpolation.
*/
static Eigen::Matrix<double, 4, 4> MakeHermiteBasis() {
static Matrixd<4, 4> MakeHermiteBasis() {
// Given P(i), P'(i), P(i+1), P'(i+1), the control vectors, we want to find
// the coefficients of the spline P(t) = a3 * t^3 + a2 * t^2 + a1 * t + a0.
//
@@ -74,10 +71,10 @@ class WPILIB_DLLEXPORT CubicHermiteSpline : public Spline<3> {
// [ a1 ] = [ 0 1 0 0 ][ P(i+1) ]
// [ a0 ] = [ 1 0 0 0 ][ P'(i+1) ]
static const Eigen::Matrix<double, 4, 4> basis{{+2.0, +1.0, -2.0, +1.0},
{-3.0, -2.0, +3.0, -1.0},
{+0.0, +1.0, +0.0, +0.0},
{+1.0, +0.0, +0.0, +0.0}};
static const Matrixd<4, 4> basis{{+2.0, +1.0, -2.0, +1.0},
{-3.0, -2.0, +3.0, -1.0},
{+0.0, +1.0, +0.0, +0.0},
{+1.0, +0.0, +0.0, +0.0}};
return basis;
}