From 98d61e224401db4684b4db47e5447c44f106aeef Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Fri, 3 Jan 2025 17:35:07 -0800
Subject: [PATCH] Remove Eigen shim header

---
 .../trajopt/spline/CubicHermiteSpline.hpp     | 12 ++++++++---
 .../include/trajopt/spline/EigenCore.hpp      | 21 -------------------
 trajoptlib/include/trajopt/spline/Spline.hpp  |  9 ++++----
 3 files changed, 14 insertions(+), 28 deletions(-)
 delete mode 100644 trajoptlib/include/trajopt/spline/EigenCore.hpp

diff --git a/trajoptlib/include/trajopt/spline/CubicHermiteSpline.hpp b/trajoptlib/include/trajopt/spline/CubicHermiteSpline.hpp
index 8fafa8055..2d28e3531 100644
--- 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
deleted file mode 100644
index 3a12a7d3c..000000000
--- a/trajoptlib/include/trajopt/spline/EigenCore.hpp
+++ /dev/null
@@ -1,21 +0,0 @@
-// Copyright (c) TrajoptLib contributors
-
-#pragma once
-
-#include <Eigen/Core>
-
-namespace frc {
-
-template <int Size>
-using Vectord = Eigen::Vector<double, Size>;
-
-template <int Rows, int Cols,
-          int Options = Eigen::AutoAlign |
-                        ((Rows == 1 && Cols != 1) ? Eigen::RowMajor
-                         : (Cols == 1 && Rows != 1)
-                             ? Eigen::ColMajor
-                             : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION),
-          int MaxRows = Rows, int MaxCols = Cols>
-using Matrixd = Eigen::Matrix<double, Rows, Cols, Options, MaxRows, MaxCols>;
-
-}  // namespace frc
diff --git a/trajoptlib/include/trajopt/spline/Spline.hpp b/trajoptlib/include/trajopt/spline/Spline.hpp
index 1ca9e1f92..1db6ad691 100644
--- 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.