From ebd2a303bf05d1cb08577bfec2b66e4e6d7ba510 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sat, 30 Apr 2022 22:52:05 -0700
Subject: [PATCH] [wpimath] Remove deprecated MakeMatrix() function (#4202)

---
 .../main/native/include/frc/StateSpaceUtil.h  | 24 ------------
 .../test/native/cpp/StateSpaceUtilTest.cpp    | 37 -------------------
 2 files changed, 61 deletions(-)

diff --git a/wpimath/src/main/native/include/frc/StateSpaceUtil.h b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
index da1e57dc3e..0345b46548 100644
--- a/wpimath/src/main/native/include/frc/StateSpaceUtil.h
+++ b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
@@ -93,30 +93,6 @@ bool IsStabilizableImpl(const Matrixd<States, States>& A,
 
 }  // namespace detail
 
-/**
- * Creates a matrix from the given list of elements.
- *
- * The elements of the matrix are filled in in row-major order.
- *
- * @param elems An array of elements in the matrix.
- * @return A matrix containing the given elements.
- * @deprecated Use Eigen::Matrix or Eigen::Vector initializer list constructor.
- */
-template <int Rows, int Cols, typename... Ts,
-          typename =
-              std::enable_if_t<std::conjunction_v<std::is_same<double, Ts>...>>>
-WPI_DEPRECATED(
-    "Use Eigen::Matrix or Eigen::Vector initializer list constructor")
-Matrixd<Rows, Cols> MakeMatrix(Ts... elems) {
-  static_assert(
-      sizeof...(elems) == Rows * Cols,
-      "Number of provided elements doesn't match matrix dimensionality");
-
-  Matrixd<Rows, Cols> result;
-  detail::MatrixImpl<Rows, Cols>(result, elems...);
-  return result;
-}
-
 /**
  * Creates a cost matrix from the given vector for use with LQR.
  *
diff --git a/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp b/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp
index 60efa066dc..105a4346f9 100644
--- a/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp
+++ b/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp
@@ -10,43 +10,6 @@
 #include "frc/StateSpaceUtil.h"
 #include "frc/system/NumericalIntegration.h"
 
-TEST(StateSpaceUtilTest, MakeMatrix) {
-  // Column vector
-  frc::Vectord<2> mat1 = frc::MakeMatrix<2, 1>(1.0, 2.0);
-  EXPECT_NEAR(mat1(0), 1.0, 1e-3);
-  EXPECT_NEAR(mat1(1), 2.0, 1e-3);
-
-  // Row vector
-  Eigen::RowVector<double, 2> mat2 = frc::MakeMatrix<1, 2>(1.0, 2.0);
-  EXPECT_NEAR(mat2(0), 1.0, 1e-3);
-  EXPECT_NEAR(mat2(1), 2.0, 1e-3);
-
-  // Square matrix
-  frc::Matrixd<2, 2> mat3 = frc::MakeMatrix<2, 2>(1.0, 2.0, 3.0, 4.0);
-  EXPECT_NEAR(mat3(0, 0), 1.0, 1e-3);
-  EXPECT_NEAR(mat3(0, 1), 2.0, 1e-3);
-  EXPECT_NEAR(mat3(1, 0), 3.0, 1e-3);
-  EXPECT_NEAR(mat3(1, 1), 4.0, 1e-3);
-
-  // Nonsquare matrix with more rows than columns
-  frc::Matrixd<3, 2> mat4 = frc::MakeMatrix<3, 2>(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);
-  EXPECT_NEAR(mat4(0, 0), 1.0, 1e-3);
-  EXPECT_NEAR(mat4(0, 1), 2.0, 1e-3);
-  EXPECT_NEAR(mat4(1, 0), 3.0, 1e-3);
-  EXPECT_NEAR(mat4(1, 1), 4.0, 1e-3);
-  EXPECT_NEAR(mat4(2, 0), 5.0, 1e-3);
-  EXPECT_NEAR(mat4(2, 1), 6.0, 1e-3);
-
-  // Nonsquare matrix with more columns than rows
-  frc::Matrixd<2, 3> mat5 = frc::MakeMatrix<2, 3>(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);
-  EXPECT_NEAR(mat5(0, 0), 1.0, 1e-3);
-  EXPECT_NEAR(mat5(0, 1), 2.0, 1e-3);
-  EXPECT_NEAR(mat5(0, 2), 3.0, 1e-3);
-  EXPECT_NEAR(mat5(1, 0), 4.0, 1e-3);
-  EXPECT_NEAR(mat5(1, 1), 5.0, 1e-3);
-  EXPECT_NEAR(mat5(1, 2), 6.0, 1e-3);
-}
-
 TEST(StateSpaceUtilTest, CostParameterPack) {
   frc::Matrixd<3, 3> mat = frc::MakeCostMatrix(1.0, 2.0, 3.0);
   EXPECT_NEAR(mat(0, 0), 1.0, 1e-3);