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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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38
wpimath/src/test/native/cpp/system/NumericalIntegrationTest.cpp
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@@ -10,48 +10,46 @@
// Tests that integrating dx/dt = e^x works.
TEST(NumericalIntegrationTest, Exponential) {
Eigen::Vector<double, 1> y0{0.0};
frc::Vectord<1> y0{0.0};
Eigen::Vector<double, 1> y1 = frc::RK4(
[](const Eigen::Vector<double, 1>& x) {
return Eigen::Vector<double, 1>{std::exp(x(0))};
},
frc::Vectord<1> y1 = frc::RK4(
[](const frc::Vectord<1>& x) { return frc::Vectord<1>{std::exp(x(0))}; },
y0, 0.1_s);
EXPECT_NEAR(y1(0), std::exp(0.1) - std::exp(0), 1e-3);
}
// Tests that integrating dx/dt = e^x works when we provide a U.
TEST(NumericalIntegrationTest, ExponentialWithU) {
Eigen::Vector<double, 1> y0{0.0};
frc::Vectord<1> y0{0.0};
Eigen::Vector<double, 1> y1 = frc::RK4(
[](const Eigen::Vector<double, 1>& x, const Eigen::Vector<double, 1>& u) {
return Eigen::Vector<double, 1>{std::exp(u(0) * x(0))};
frc::Vectord<1> y1 = frc::RK4(
[](const frc::Vectord<1>& x, const frc::Vectord<1>& u) {
return frc::Vectord<1>{std::exp(u(0) * x(0))};
},
y0, Eigen::Vector<double, 1>{1.0}, 0.1_s);
y0, frc::Vectord<1>{1.0}, 0.1_s);
EXPECT_NEAR(y1(0), std::exp(0.1) - std::exp(0), 1e-3);
}
// Tests that integrating dx/dt = e^x works with RKF45.
TEST(NumericalIntegrationTest, ExponentialRKF45) {
Eigen::Vector<double, 1> y0{0.0};
frc::Vectord<1> y0{0.0};
Eigen::Vector<double, 1> y1 = frc::RKF45(
[](const Eigen::Vector<double, 1>& x, const Eigen::Vector<double, 1>& u) {
return Eigen::Vector<double, 1>{std::exp(x(0))};
frc::Vectord<1> y1 = frc::RKF45(
[](const frc::Vectord<1>& x, const frc::Vectord<1>& u) {
return frc::Vectord<1>{std::exp(x(0))};
},
y0, Eigen::Vector<double, 1>{0.0}, 0.1_s);
y0, frc::Vectord<1>{0.0}, 0.1_s);
EXPECT_NEAR(y1(0), std::exp(0.1) - std::exp(0), 1e-3);
}
// Tests that integrating dx/dt = e^x works with RKDP
TEST(NumericalIntegrationTest, ExponentialRKDP) {
Eigen::Vector<double, 1> y0{0.0};
frc::Vectord<1> y0{0.0};
Eigen::Vector<double, 1> y1 = frc::RKDP(
[](const Eigen::Vector<double, 1>& x, const Eigen::Vector<double, 1>& u) {
return Eigen::Vector<double, 1>{std::exp(x(0))};
frc::Vectord<1> y1 = frc::RKDP(
[](const frc::Vectord<1>& x, const frc::Vectord<1>& u) {
return frc::Vectord<1>{std::exp(x(0))};
},
y0, Eigen::Vector<double, 1>{0.0}, 0.1_s);
y0, frc::Vectord<1>{0.0}, 0.1_s);
EXPECT_NEAR(y1(0), std::exp(0.1) - std::exp(0), 1e-3);
}