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[wpimath, wpiutil] Add wpi::array for compile time size checking (#3087)

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The wpimath APIs use std::array, which doesn't do size checking. Passing
an array with the wrong size can result in uninitialized elements
instead of a compilation error.

This is a breaking change but is worthwhile to avoid hard-to-debug errors.
This commit is contained in:
Tyler Veness
2021-01-16 20:26:17 -08:00
committed by GitHub
parent d6ed20c1e4
commit f393989a5b
25 changed files with 227 additions and 118 deletions
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34
wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
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@@ -4,7 +4,7 @@
#pragma once
#include <array>
#include <wpi/array.h>
#include "Eigen/Core"
#include "Eigen/src/Cholesky/LLT.h"
@@ -44,8 +44,8 @@ class LinearQuadraticRegulatorImpl {
template <int Outputs>
LinearQuadraticRegulatorImpl(
const LinearSystem<States, Inputs, Outputs>& plant,
const std::array<double, States>& Qelems,
const std::array<double, Inputs>& Relems, units::second_t dt)
const wpi::array<double, States>& Qelems,
const wpi::array<double, Inputs>& Relems, units::second_t dt)
: LinearQuadraticRegulatorImpl(plant.A(), plant.B(), Qelems, Relems, dt) {
}
@@ -60,8 +60,8 @@ class LinearQuadraticRegulatorImpl {
*/
LinearQuadraticRegulatorImpl(const Eigen::Matrix<double, States, States>& A,
const Eigen::Matrix<double, States, Inputs>& B,
const std::array<double, States>& Qelems,
const std::array<double, Inputs>& Relems,
const wpi::array<double, States>& Qelems,
const wpi::array<double, Inputs>& Relems,
units::second_t dt)
: LinearQuadraticRegulatorImpl(A, B, MakeCostMatrix(Qelems),
MakeCostMatrix(Relems), dt) {}
@@ -226,8 +226,8 @@ class LinearQuadraticRegulator
*/
template <int Outputs>
LinearQuadraticRegulator(const LinearSystem<States, Inputs, Outputs>& plant,
const std::array<double, States>& Qelems,
const std::array<double, Inputs>& Relems,
const wpi::array<double, States>& Qelems,
const wpi::array<double, Inputs>& Relems,
units::second_t dt)
: LinearQuadraticRegulator(plant.A(), plant.B(), Qelems, Relems, dt) {}
@@ -242,8 +242,8 @@ class LinearQuadraticRegulator
*/
LinearQuadraticRegulator(const Eigen::Matrix<double, States, States>& A,
const Eigen::Matrix<double, States, Inputs>& B,
const std::array<double, States>& Qelems,
const std::array<double, Inputs>& Relems,
const wpi::array<double, States>& Qelems,
const wpi::array<double, Inputs>& Relems,
units::second_t dt)
: LinearQuadraticRegulator(A, B, MakeCostMatrix(Qelems),
MakeCostMatrix(Relems), dt) {}
@@ -276,15 +276,15 @@ class LinearQuadraticRegulator<1, 1>
public:
template <int Outputs>
LinearQuadraticRegulator(const LinearSystem<1, 1, Outputs>& plant,
const std::array<double, 1>& Qelems,
const std::array<double, 1>& Relems,
const wpi::array<double, 1>& Qelems,
const wpi::array<double, 1>& Relems,
units::second_t dt)
: LinearQuadraticRegulator(plant.A(), plant.B(), Qelems, Relems, dt) {}
LinearQuadraticRegulator(const Eigen::Matrix<double, 1, 1>& A,
const Eigen::Matrix<double, 1, 1>& B,
const std::array<double, 1>& Qelems,
const std::array<double, 1>& Relems,
const wpi::array<double, 1>& Qelems,
const wpi::array<double, 1>& Relems,
units::second_t dt);
LinearQuadraticRegulator(const Eigen::Matrix<double, 1, 1>& A,
@@ -305,15 +305,15 @@ class LinearQuadraticRegulator<2, 1>
public:
template <int Outputs>
LinearQuadraticRegulator(const LinearSystem<2, 1, Outputs>& plant,
const std::array<double, 2>& Qelems,
const std::array<double, 1>& Relems,
const wpi::array<double, 2>& Qelems,
const wpi::array<double, 1>& Relems,
units::second_t dt)
: LinearQuadraticRegulator(plant.A(), plant.B(), Qelems, Relems, dt) {}
LinearQuadraticRegulator(const Eigen::Matrix<double, 2, 2>& A,
const Eigen::Matrix<double, 2, 1>& B,
const std::array<double, 2>& Qelems,
const std::array<double, 1>& Relems,
const wpi::array<double, 2>& Qelems,
const wpi::array<double, 1>& Relems,
units::second_t dt);
LinearQuadraticRegulator(const Eigen::Matrix<double, 2, 2>& A,