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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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20
wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp
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@@ -19,11 +19,11 @@ TEST(ImplicitModelFollowerTest, SameModel) {
ImplicitModelFollower<2, 2> imf{plant, plant};
Eigen::Vector<double, 2> x{0.0, 0.0};
Eigen::Vector<double, 2> xImf{0.0, 0.0};
Vectord<2> x{0.0, 0.0};
Vectord<2> xImf{0.0, 0.0};
// Forward
Eigen::Vector<double, 2> u{12.0, 12.0};
Vectord<2> u{12.0, 12.0};
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
xImf = plant.CalculateX(xImf, imf.Calculate(xImf, u), dt);
@@ -33,7 +33,7 @@ TEST(ImplicitModelFollowerTest, SameModel) {
}
// Backward
u = Eigen::Vector<double, 2>{-12.0, -12.0};
u = Vectord<2>{-12.0, -12.0};
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
xImf = plant.CalculateX(xImf, imf.Calculate(xImf, u), dt);
@@ -43,7 +43,7 @@ TEST(ImplicitModelFollowerTest, SameModel) {
}
// Rotate CCW
u = Eigen::Vector<double, 2>{-12.0, 12.0};
u = Vectord<2>{-12.0, 12.0};
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
xImf = plant.CalculateX(xImf, imf.Calculate(xImf, u), dt);
@@ -68,11 +68,11 @@ TEST(ImplicitModelFollowerTest, SlowerRefModel) {
ImplicitModelFollower<2, 2> imf{plant, plantRef};
Eigen::Vector<double, 2> x{0.0, 0.0};
Eigen::Vector<double, 2> xImf{0.0, 0.0};
Vectord<2> x{0.0, 0.0};
Vectord<2> xImf{0.0, 0.0};
// Forward
Eigen::Vector<double, 2> u{12.0, 12.0};
Vectord<2> u{12.0, 12.0};
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
xImf = plant.CalculateX(xImf, imf.Calculate(xImf, u), dt);
@@ -84,7 +84,7 @@ TEST(ImplicitModelFollowerTest, SlowerRefModel) {
// Backward
x.setZero();
xImf.setZero();
u = Eigen::Vector<double, 2>{-12.0, -12.0};
u = Vectord<2>{-12.0, -12.0};
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
xImf = plant.CalculateX(xImf, imf.Calculate(xImf, u), dt);
@@ -96,7 +96,7 @@ TEST(ImplicitModelFollowerTest, SlowerRefModel) {
// Rotate CCW
x.setZero();
xImf.setZero();
u = Eigen::Vector<double, 2>{-12.0, 12.0};
u = Vectord<2>{-12.0, 12.0};
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
xImf = plant.CalculateX(xImf, imf.Calculate(xImf, u), dt);