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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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88
wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
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@@ -56,15 +56,13 @@ class WPILIB_DLLEXPORT LinearSystemId {
throw std::domain_error("G must be greater than zero.");
}
Eigen::Matrix<double, 2, 2> A{
{0.0, 1.0},
{0.0, (-std::pow(G, 2) * motor.Kt /
(motor.R * units::math::pow<2>(r) * m * motor.Kv))
.value()}};
Eigen::Matrix<double, 2, 1> B{0.0,
(G * motor.Kt / (motor.R * r * m)).value()};
Eigen::Matrix<double, 1, 2> C{1.0, 0.0};
Eigen::Matrix<double, 1, 1> D{0.0};
Matrixd<2, 2> A{{0.0, 1.0},
{0.0, (-std::pow(G, 2) * motor.Kt /
(motor.R * units::math::pow<2>(r) * m * motor.Kv))
.value()}};
Matrixd<2, 1> B{0.0, (G * motor.Kt / (motor.R * r * m)).value()};
Matrixd<1, 2> C{1.0, 0.0};
Matrixd<1, 1> D{0.0};
return LinearSystem<2, 1, 1>(A, B, C, D);
}
@@ -90,12 +88,12 @@ class WPILIB_DLLEXPORT LinearSystemId {
throw std::domain_error("G must be greater than zero.");
}
Eigen::Matrix<double, 2, 2> A{
Matrixd<2, 2> A{
{0.0, 1.0},
{0.0, (-std::pow(G, 2) * motor.Kt / (motor.Kv * motor.R * J)).value()}};
Eigen::Matrix<double, 2, 1> B{0.0, (G * motor.Kt / (motor.R * J)).value()};
Eigen::Matrix<double, 1, 2> C{1.0, 0.0};
Eigen::Matrix<double, 1, 1> D{0.0};
Matrixd<2, 1> B{0.0, (G * motor.Kt / (motor.R * J)).value()};
Matrixd<1, 2> C{1.0, 0.0};
Matrixd<1, 1> D{0.0};
return LinearSystem<2, 1, 1>(A, B, C, D);
}
@@ -134,10 +132,10 @@ class WPILIB_DLLEXPORT LinearSystemId {
throw std::domain_error("Ka must be greater than zero.");
}
Eigen::Matrix<double, 1, 1> A{-kV.value() / kA.value()};
Eigen::Matrix<double, 1, 1> B{1.0 / kA.value()};
Eigen::Matrix<double, 1, 1> C{1.0};
Eigen::Matrix<double, 1, 1> D{0.0};
Matrixd<1, 1> A{-kV.value() / kA.value()};
Matrixd<1, 1> B{1.0 / kA.value()};
Matrixd<1, 1> C{1.0};
Matrixd<1, 1> D{0.0};
return LinearSystem<1, 1, 1>(A, B, C, D);
}
@@ -176,10 +174,10 @@ class WPILIB_DLLEXPORT LinearSystemId {
throw std::domain_error("Ka must be greater than zero.");
}
Eigen::Matrix<double, 2, 2> A{{0.0, 1.0}, {0.0, -kV.value() / kA.value()}};
Eigen::Matrix<double, 2, 1> B{0.0, 1.0 / kA.value()};
Eigen::Matrix<double, 1, 2> C{1.0, 0.0};
Eigen::Matrix<double, 1, 1> D{0.0};
Matrixd<2, 2> A{{0.0, 1.0}, {0.0, -kV.value() / kA.value()}};
Matrixd<2, 1> B{0.0, 1.0 / kA.value()};
Matrixd<1, 2> C{1.0, 0.0};
Matrixd<1, 1> D{0.0};
return LinearSystem<2, 1, 1>(A, B, C, D);
}
@@ -224,12 +222,10 @@ class WPILIB_DLLEXPORT LinearSystemId {
double B1 = 1.0 / kAlinear.value() + 1.0 / kAangular.value();
double B2 = 1.0 / kAlinear.value() - 1.0 / kAangular.value();
Eigen::Matrix<double, 2, 2> A =
0.5 * Eigen::Matrix<double, 2, 2>{{A1, A2}, {A2, A1}};
Eigen::Matrix<double, 2, 2> B =
0.5 * Eigen::Matrix<double, 2, 2>{{B1, B2}, {B2, B1}};
Eigen::Matrix<double, 2, 2> C{{1.0, 0.0}, {0.0, 1.0}};
Eigen::Matrix<double, 2, 2> D{{0.0, 0.0}, {0.0, 0.0}};
Matrixd<2, 2> A = 0.5 * Matrixd<2, 2>{{A1, A2}, {A2, A1}};
Matrixd<2, 2> B = 0.5 * Matrixd<2, 2>{{B1, B2}, {B2, B1}};
Matrixd<2, 2> C{{1.0, 0.0}, {0.0, 1.0}};
Matrixd<2, 2> D{{0.0, 0.0}, {0.0, 0.0}};
return LinearSystem<2, 2, 2>(A, B, C, D);
}
@@ -311,11 +307,11 @@ class WPILIB_DLLEXPORT LinearSystemId {
throw std::domain_error("G must be greater than zero.");
}
Eigen::Matrix<double, 1, 1> A{
Matrixd<1, 1> A{
(-std::pow(G, 2) * motor.Kt / (motor.Kv * motor.R * J)).value()};
Eigen::Matrix<double, 1, 1> B{(G * motor.Kt / (motor.R * J)).value()};
Eigen::Matrix<double, 1, 1> C{1.0};
Eigen::Matrix<double, 1, 1> D{0.0};
Matrixd<1, 1> B{(G * motor.Kt / (motor.R * J)).value()};
Matrixd<1, 1> C{1.0};
Matrixd<1, 1> D{0.0};
return LinearSystem<1, 1, 1>(A, B, C, D);
}
@@ -342,12 +338,12 @@ class WPILIB_DLLEXPORT LinearSystemId {
throw std::domain_error("G must be greater than zero.");
}
Eigen::Matrix<double, 2, 2> A{
Matrixd<2, 2> A{
{0.0, 1.0},
{0.0, (-std::pow(G, 2) * motor.Kt / (motor.Kv * motor.R * J)).value()}};
Eigen::Matrix<double, 2, 1> B{0.0, (G * motor.Kt / (motor.R * J)).value()};
Eigen::Matrix<double, 2, 2> C{{1.0, 0.0}, {0.0, 1.0}};
Eigen::Matrix<double, 2, 1> D{0.0, 0.0};
Matrixd<2, 1> B{0.0, (G * motor.Kt / (motor.R * J)).value()};
Matrixd<2, 2> C{{1.0, 0.0}, {0.0, 1.0}};
Matrixd<2, 1> D{0.0, 0.0};
return LinearSystem<2, 1, 2>(A, B, C, D);
}
@@ -391,18 +387,16 @@ class WPILIB_DLLEXPORT LinearSystemId {
(motor.Kv * motor.R * units::math::pow<2>(r));
auto C2 = G * motor.Kt / (motor.R * r);
Eigen::Matrix<double, 2, 2> A{
{((1 / m + units::math::pow<2>(rb) / J) * C1).value(),
((1 / m - units::math::pow<2>(rb) / J) * C1).value()},
{((1 / m - units::math::pow<2>(rb) / J) * C1).value(),
((1 / m + units::math::pow<2>(rb) / J) * C1).value()}};
Eigen::Matrix<double, 2, 2> B{
{((1 / m + units::math::pow<2>(rb) / J) * C2).value(),
((1 / m - units::math::pow<2>(rb) / J) * C2).value()},
{((1 / m - units::math::pow<2>(rb) / J) * C2).value(),
((1 / m + units::math::pow<2>(rb) / J) * C2).value()}};
Eigen::Matrix<double, 2, 2> C{{1.0, 0.0}, {0.0, 1.0}};
Eigen::Matrix<double, 2, 2> D{{0.0, 0.0}, {0.0, 0.0}};
Matrixd<2, 2> A{{((1 / m + units::math::pow<2>(rb) / J) * C1).value(),
((1 / m - units::math::pow<2>(rb) / J) * C1).value()},
{((1 / m - units::math::pow<2>(rb) / J) * C1).value(),
((1 / m + units::math::pow<2>(rb) / J) * C1).value()}};
Matrixd<2, 2> B{{((1 / m + units::math::pow<2>(rb) / J) * C2).value(),
((1 / m - units::math::pow<2>(rb) / J) * C2).value()},
{((1 / m - units::math::pow<2>(rb) / J) * C2).value(),
((1 / m + units::math::pow<2>(rb) / J) * C2).value()}};
Matrixd<2, 2> C{{1.0, 0.0}, {0.0, 1.0}};
Matrixd<2, 2> D{{0.0, 0.0}, {0.0, 0.0}};
return LinearSystem<2, 2, 2>(A, B, C, D);
}