Remove Eigen shim header

SleipnirGroup · Jan 4, 2025 · 98d61e2 · 98d61e2
1 parent 60f79dd
commit 98d61e2
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Showing 3 changed files with 14 additions and 28 deletions.
diff --git a/trajoptlib/include/trajopt/spline/CubicHermiteSpline.hpp b/trajoptlib/include/trajopt/spline/CubicHermiteSpline.hpp
@@ -2,12 +2,14 @@
 
 #pragma once
 
-#include "trajopt/spline/EigenCore.hpp"
+#include <Eigen/Core>
+
 #include "trajopt/spline/Spline.hpp"
 #include "trajopt/spline/array.hpp"
 #include "trajopt/util/SymbolExports.hpp"
 
 namespace frc {
+
 /**
  * Represents a hermite spline of degree 3.
  */
@@ -36,7 +38,9 @@ class TRAJOPT_DLLEXPORT CubicHermiteSpline : public Spline<3> {
    * Returns the coefficients matrix.
    * @return The coefficients matrix.
    */
-  Matrixd<6, 3 + 1> Coefficients() const override { return m_coefficients; }
+  Eigen::Matrix<double, 6, 3 + 1> Coefficients() const override {
+    return m_coefficients;
+  }
 
   /**
    * Returns the initial control vector that created this spline.
@@ -57,7 +61,8 @@ class TRAJOPT_DLLEXPORT CubicHermiteSpline : public Spline<3> {
   }
 
  private:
-  Matrixd<6, 4> m_coefficients = Matrixd<6, 4>::Zero();
+  Eigen::Matrix<double, 6, 4> m_coefficients =
+      Eigen::Matrix<double, 6, 4>::Zero();
 
   ControlVector m_initialControlVector;
   ControlVector m_finalControlVector;
@@ -110,4 +115,5 @@ class TRAJOPT_DLLEXPORT CubicHermiteSpline : public Spline<3> {
                            finalVector[1]};
   }
 };
+
 }  // namespace frc
diff --git a/trajoptlib/include/trajopt/spline/EigenCore.hpp b/trajoptlib/include/trajopt/spline/EigenCore.hpp
diff --git a/trajoptlib/include/trajopt/spline/Spline.hpp b/trajoptlib/include/trajopt/spline/Spline.hpp
@@ -5,8 +5,9 @@
 #include <optional>
 #include <utility>
 
+#include <Eigen/Core>
+
 #include "trajopt/geometry/Pose2.hpp"
-#include "trajopt/spline/EigenCore.hpp"
 #include "trajopt/spline/array.hpp"
 
 namespace frc {
@@ -46,7 +47,7 @@ class Spline {
    * @return The pose and curvature at that point.
    */
   std::optional<PoseWithCurvature> GetPoint(double t) const {
-    Vectord<Degree + 1> polynomialBases;
+    Eigen::Vector<double, Degree + 1> polynomialBases;
 
     // Populate the polynomial bases
     for (int i = 0; i <= Degree; i++) {
@@ -55,7 +56,7 @@ class Spline {
 
     // This simply multiplies by the coefficients. We need to divide out t some
     // n number of times where n is the derivative we want to take.
-    Vectord<6> combined = Coefficients() * polynomialBases;
+    Eigen::Vector<double, 6> combined = Coefficients() * polynomialBases;
 
     double dx, dy, ddx, ddy;
 
@@ -94,7 +95,7 @@ class Spline {
    *
    * @return The coefficients of the spline.
    */
-  virtual Matrixd<6, Degree + 1> Coefficients() const = 0;
+  virtual Eigen::Matrix<double, 6, Degree + 1> Coefficients() const = 0;
 
   /**
    * Returns the initial control vector that created this spline.