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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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10
wpimath/src/test/native/cpp/controller/LinearPlantInversionFeedforwardTest.cpp
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@@ -6,21 +6,21 @@
#include <cmath>
#include "Eigen/Core"
#include "frc/EigenCore.h"
#include "frc/controller/LinearPlantInversionFeedforward.h"
#include "units/time.h"
namespace frc {
TEST(LinearPlantInversionFeedforwardTest, Calculate) {
Eigen::Matrix<double, 2, 2> A{{1, 0}, {0, 1}};
Eigen::Matrix<double, 2, 1> B{0, 1};
Matrixd<2, 2> A{{1, 0}, {0, 1}};
Matrixd<2, 1> B{0, 1};
frc::LinearPlantInversionFeedforward<2, 1> feedforward{A, B,
units::second_t(0.02)};
Eigen::Vector<double, 2> r{2, 2};
Eigen::Vector<double, 2> nextR{3, 3};
Vectord<2> r{2, 2};
Vectord<2> nextR{3, 3};
EXPECT_NEAR(47.502599, feedforward.Calculate(r, nextR)(0, 0), 0.002);
}