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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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12
wpimath/src/test/native/cpp/estimator/MerweScaledSigmaPointsTest.cpp
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@@ -11,12 +11,10 @@ namespace {
TEST(MerweScaledSigmaPointsTest, ZeroMean) {
frc::MerweScaledSigmaPoints<2> sigmaPoints;
auto points = sigmaPoints.SigmaPoints(
Eigen::Vector<double, 2>{0.0, 0.0},
Eigen::Matrix<double, 2, 2>{{1.0, 0.0}, {0.0, 1.0}});
frc::Vectord<2>{0.0, 0.0}, frc::Matrixd<2, 2>{{1.0, 0.0}, {0.0, 1.0}});
EXPECT_TRUE(
(points -
Eigen::Matrix<double, 2, 5>{{0.0, 0.00173205, 0.0, -0.00173205, 0.0},
(points - frc::Matrixd<2, 5>{{0.0, 0.00173205, 0.0, -0.00173205, 0.0},
{0.0, 0.0, 0.00173205, 0.0, -0.00173205}})
.norm() < 1e-3);
}
@@ -24,12 +22,10 @@ TEST(MerweScaledSigmaPointsTest, ZeroMean) {
TEST(MerweScaledSigmaPointsTest, NonzeroMean) {
frc::MerweScaledSigmaPoints<2> sigmaPoints;
auto points = sigmaPoints.SigmaPoints(
Eigen::Vector<double, 2>{1.0, 2.0},
Eigen::Matrix<double, 2, 2>{{1.0, 0.0}, {0.0, 10.0}});
frc::Vectord<2>{1.0, 2.0}, frc::Matrixd<2, 2>{{1.0, 0.0}, {0.0, 10.0}});
EXPECT_TRUE(
(points -
Eigen::Matrix<double, 2, 5>{{1.0, 1.00173205, 1.0, 0.998268, 1.0},
(points - frc::Matrixd<2, 5>{{1.0, 1.00173205, 1.0, 0.998268, 1.0},
{2.0, 2.0, 2.00548, 2.0, 1.99452}})
.norm() < 1e-3);
}