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6 Commits

Author SHA1 Message Date
Peter Johnson
e767605e94 [wpimath] Add typedefs for common types 
This makes complex code significantly easier to read.

frc::Vectord<Size> = Eigen::Vector<double, Size>
frc::Matrixd<Rows, Cols> = Eigen::Matrix<double, Rows, Cols>
 2022-04-30 20:38:55 -07:00
Tyler Veness
181723e573 Replace .to<double>() and .template to<double>() with .value() (#3667) 
It's a less verbose way to do the same thing.
 2021-10-25 08:58:12 -07:00
Tyler Veness
9359431bad [wpimath] Clean up Eigen usage 
* Replace Matrix<> with Vector<> where vectors are explicitly intended.
  I found these via `rg "Eigen::Matrix<double, \w+, 1>"`.
* Pass all Eigen matrices by const reference. I found these via `rg
  "\(Eigen"` on main (the initializer list constructors make more false
  positives).
* Replace MakeMatrix() and operator<< usage with initializer list
  constructors. I found these via `rg MakeMatrix` and `rg "<<"`
  respectively.
* Deprecate MakeMatrix()
 2021-09-17 12:12:19 -07:00
Peter Johnson
8f1f64ffb6 Remove year from file copyright message (NFC) (#2972) 
Also update copyright to include "and other WPILib contributors" and clarify
license referral language to not be restricted to FIRST teams.
 2020-12-26 14:12:05 -08:00
Declan Freeman-Gleason
bc8f338771 [wpilib] Add pose estimators (#2867) 
Pose and state estimators can filter latency-compensated global measurements and fuse them with state-space drivetrain model information to estimate robot position. They are drop-in replacements for the existing odometry classes.

Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2020-11-28 14:35:35 -08:00
Matt
3b283ab9aa [wpimath] Add core State-space classes (#2614) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
 2020-08-14 23:40:33 -07:00