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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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7
wpimath/src/test/native/cpp/StateSpaceTest.cpp
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@@ -7,7 +7,7 @@
#include <cmath>
#include <random>
#include "Eigen/Core"
#include "frc/EigenCore.h"
#include "frc/controller/LinearPlantInversionFeedforward.h"
#include "frc/controller/LinearQuadraticRegulator.h"
#include "frc/estimator/KalmanFilter.h"
@@ -45,8 +45,7 @@ class StateSpaceTest : public testing::Test {
void Update(const LinearSystem<2, 1, 1>& plant, LinearSystemLoop<2, 1, 1>& loop,
double noise) {
Eigen::Vector<double, 1> y =
plant.CalculateY(loop.Xhat(), loop.U()) + Eigen::Vector<double, 1>{noise};
Vectord<1> y = plant.CalculateY(loop.Xhat(), loop.U()) + Vectord<1>{noise};
loop.Correct(y);
loop.Predict(kDt);
}
@@ -55,7 +54,7 @@ TEST_F(StateSpaceTest, CorrectPredictLoop) {
std::default_random_engine generator;
std::normal_distribution<double> dist{0.0, kPositionStddev};
Eigen::Vector<double, 2> references{2.0, 0.0};
Vectord<2> references{2.0, 0.0};
loop.SetNextR(references);
for (int i = 0; i < 1000; i++) {