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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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21
wpimath/src/test/native/cpp/EigenTest.cpp
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@@ -2,34 +2,34 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "Eigen/Core"
#include "Eigen/LU"
#include "frc/EigenCore.h"
#include "gtest/gtest.h"
TEST(EigenTest, Multiplication) {
Eigen::Matrix<double, 2, 2> m1{{2, 1}, {0, 1}};
Eigen::Matrix<double, 2, 2> m2{{3, 0}, {0, 2.5}};
frc::Matrixd<2, 2> m1{{2, 1}, {0, 1}};
frc::Matrixd<2, 2> m2{{3, 0}, {0, 2.5}};
const auto result = m1 * m2;
Eigen::Matrix<double, 2, 2> expectedResult{{6.0, 2.5}, {0.0, 2.5}};
frc::Matrixd<2, 2> expectedResult{{6.0, 2.5}, {0.0, 2.5}};
EXPECT_TRUE(expectedResult.isApprox(result));
Eigen::Matrix<double, 2, 3> m3{{1.0, 3.0, 0.5}, {2.0, 4.3, 1.2}};
Eigen::Matrix<double, 3, 4> m4{
frc::Matrixd<2, 3> m3{{1.0, 3.0, 0.5}, {2.0, 4.3, 1.2}};
frc::Matrixd<3, 4> m4{
{3.0, 1.5, 2.0, 4.5}, {2.3, 1.0, 1.6, 3.1}, {5.2, 2.1, 2.0, 1.0}};
const auto result2 = m3 * m4;
Eigen::Matrix<double, 2, 4> expectedResult2{{12.5, 5.55, 7.8, 14.3},
{22.13, 9.82, 13.28, 23.53}};
frc::Matrixd<2, 4> expectedResult2{{12.5, 5.55, 7.8, 14.3},
{22.13, 9.82, 13.28, 23.53}};
EXPECT_TRUE(expectedResult2.isApprox(result2));
}
TEST(EigenTest, Transpose) {
Eigen::Vector<double, 3> vec{1, 2, 3};
frc::Vectord<3> vec{1, 2, 3};
const auto transpose = vec.transpose();
@@ -39,8 +39,7 @@ TEST(EigenTest, Transpose) {
}
TEST(EigenTest, Inverse) {
Eigen::Matrix<double, 3, 3> mat{
{1.0, 3.0, 2.0}, {5.0, 2.0, 1.5}, {0.0, 1.3, 2.5}};
frc::Matrixd<3, 3> mat{{1.0, 3.0, 2.0}, {5.0, 2.0, 1.5}, {0.0, 1.3, 2.5}};
const auto inverse = mat.inverse();
const auto identity = Eigen::MatrixXd::Identity(3, 3);