Remove wpi::array

SleipnirGroup · Jan 4, 2025 · a44cce3 · a44cce3
1 parent 98d61e2
commit a44cce3
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Showing 7 changed files with 28 additions and 180 deletions.
diff --git a/trajoptlib/include/trajopt/spline/CubicHermitePoseSplineHolonomic.hpp b/trajoptlib/include/trajopt/spline/CubicHermitePoseSplineHolonomic.hpp
@@ -2,6 +2,7 @@
 
 #pragma once
 
+#include <array>
 #include <utility>
 
 #include "trajopt/geometry/Pose2.hpp"
@@ -36,10 +37,10 @@ class TRAJOPT_DLLEXPORT CubicHermitePoseSplineHolonomic : CubicHermiteSpline {
    * @param r0 Initial heading.
    * @param r1 Final heading.
    */
-  CubicHermitePoseSplineHolonomic(wpi::array<double, 2> xInitialControlVector,
-                                  wpi::array<double, 2> xFinalControlVector,
-                                  wpi::array<double, 2> yInitialControlVector,
-                                  wpi::array<double, 2> yFinalControlVector,
+  CubicHermitePoseSplineHolonomic(std::array<double, 2> xInitialControlVector,
+                                  std::array<double, 2> xFinalControlVector,
+                                  std::array<double, 2> yInitialControlVector,
+                                  std::array<double, 2> yFinalControlVector,
                                   trajopt::Rotation2d r0,
                                   trajopt::Rotation2d r1)
       : CubicHermiteSpline(xInitialControlVector, xFinalControlVector,

diff --git a/trajoptlib/include/trajopt/spline/CubicHermiteSpline.hpp b/trajoptlib/include/trajopt/spline/CubicHermiteSpline.hpp
@@ -2,10 +2,11 @@
 
 #pragma once
 
+#include <array>
+
 #include <Eigen/Core>
 
 #include "trajopt/spline/Spline.hpp"
-#include "trajopt/spline/array.hpp"
 #include "trajopt/util/SymbolExports.hpp"
 
 namespace frc {
@@ -29,10 +30,10 @@ class TRAJOPT_DLLEXPORT CubicHermiteSpline : public Spline<3> {
    * @param yFinalControlVector The control vector for the final point in
    * the y dimension.
    */
-  CubicHermiteSpline(wpi::array<double, 2> xInitialControlVector,
-                     wpi::array<double, 2> xFinalControlVector,
-                     wpi::array<double, 2> yInitialControlVector,
-                     wpi::array<double, 2> yFinalControlVector);
+  CubicHermiteSpline(std::array<double, 2> xInitialControlVector,
+                     std::array<double, 2> xFinalControlVector,
+                     std::array<double, 2> yInitialControlVector,
+                     std::array<double, 2> yFinalControlVector);
 
   /**
    * Returns the coefficients matrix.
@@ -110,7 +111,7 @@ class TRAJOPT_DLLEXPORT CubicHermiteSpline : public Spline<3> {
    * @return The control vector matrix for a dimension.
    */
   static Eigen::Vector4d ControlVectorFromArrays(
-      wpi::array<double, 2> initialVector, wpi::array<double, 2> finalVector) {
+      std::array<double, 2> initialVector, std::array<double, 2> finalVector) {
     return Eigen::Vector4d{initialVector[0], initialVector[1], finalVector[0],
                            finalVector[1]};
   }

diff --git a/trajoptlib/include/trajopt/spline/Spline.hpp b/trajoptlib/include/trajopt/spline/Spline.hpp
@@ -2,13 +2,13 @@
 
 #pragma once
 
+#include <array>
 #include <optional>
 #include <utility>
 
 #include <Eigen/Core>
 
 #include "trajopt/geometry/Pose2.hpp"
-#include "trajopt/spline/array.hpp"
 
 namespace frc {
 /**
@@ -34,10 +34,10 @@ class Spline {
    */
   struct ControlVector {
     /// The x components of the control vector.
-    wpi::array<double, (Degree + 1) / 2> x;
+    std::array<double, (Degree + 1) / 2> x;
 
     /// The y components of the control vector.
-    wpi::array<double, (Degree + 1) / 2> y;
+    std::array<double, (Degree + 1) / 2> y;
   };
 
   /**

diff --git a/trajoptlib/include/trajopt/spline/SplineHelper.hpp b/trajoptlib/include/trajopt/spline/SplineHelper.hpp
@@ -2,13 +2,12 @@
 
 #pragma once
 
-#include <utility>
+#include <array>
 #include <vector>
 
 #include "trajopt/geometry/Pose2.hpp"
 #include "trajopt/geometry/Translation2.hpp"
 #include "trajopt/spline/CubicHermiteSpline.hpp"
-#include "trajopt/spline/array.hpp"
 #include "trajopt/util/SymbolExports.hpp"
 
 namespace frc {
@@ -27,7 +26,7 @@ class TRAJOPT_DLLEXPORT SplineHelper {
    * @param end               The ending pose.
    * @return 2 cubic control vectors.
    */
-  static wpi::array<Spline<3>::ControlVector, 2>
+  static std::array<Spline<3>::ControlVector, 2>
   CubicControlVectorsFromWaypoints(
       const trajopt::Pose2d& start,
       const std::vector<trajopt::Translation2d>& interiorWaypoints,

diff --git a/trajoptlib/include/trajopt/spline/array.hpp b/trajoptlib/include/trajopt/spline/array.hpp
diff --git a/trajoptlib/src/spline/CubicHermiteSpline.cpp b/trajoptlib/src/spline/CubicHermiteSpline.cpp
@@ -5,10 +5,10 @@
 using namespace frc;
 
 CubicHermiteSpline::CubicHermiteSpline(
-    wpi::array<double, 2> xInitialControlVector,
-    wpi::array<double, 2> xFinalControlVector,
-    wpi::array<double, 2> yInitialControlVector,
-    wpi::array<double, 2> yFinalControlVector)
+    std::array<double, 2> xInitialControlVector,
+    std::array<double, 2> xFinalControlVector,
+    std::array<double, 2> yInitialControlVector,
+    std::array<double, 2> yFinalControlVector)
     : m_initialControlVector{xInitialControlVector, yInitialControlVector},
       m_finalControlVector{xFinalControlVector, yFinalControlVector} {
   const auto hermite = MakeHermiteBasis();

diff --git a/trajoptlib/src/spline/SplineHelper.cpp b/trajoptlib/src/spline/SplineHelper.cpp
@@ -13,10 +13,10 @@ std::vector<CubicHermiteSpline> SplineHelper::CubicSplinesFromControlVectors(
     const Spline<3>::ControlVector& end) {
   std::vector<CubicHermiteSpline> splines;
 
-  wpi::array<double, 2> xInitial = start.x;
-  wpi::array<double, 2> yInitial = start.y;
-  wpi::array<double, 2> xFinal = end.x;
-  wpi::array<double, 2> yFinal = end.y;
+  std::array<double, 2> xInitial = start.x;
+  std::array<double, 2> yInitial = start.y;
+  std::array<double, 2> xFinal = end.x;
+  std::array<double, 2> yFinal = end.y;
 
   if (waypoints.size() > 1) {
     waypoints.emplace(waypoints.begin(),
@@ -93,8 +93,8 @@ std::vector<CubicHermiteSpline> SplineHelper::CubicSplinesFromControlVectors(
     const double yDeriv =
         (3 * (yFinal[0] - yInitial[0]) - yFinal[1] - yInitial[1]) / 4.0;
 
-    wpi::array<double, 2> midXControlVector{waypoints[0].X(), xDeriv};
-    wpi::array<double, 2> midYControlVector{waypoints[0].Y(), yDeriv};
+    std::array<double, 2> midXControlVector{waypoints[0].X(), xDeriv};
+    std::array<double, 2> midYControlVector{waypoints[0].Y(), yDeriv};
 
     splines.emplace_back(xInitial, midXControlVector, yInitial,
                          midYControlVector);
@@ -109,7 +109,7 @@ std::vector<CubicHermiteSpline> SplineHelper::CubicSplinesFromControlVectors(
   return splines;
 }
 
-wpi::array<Spline<3>::ControlVector, 2>
+std::array<Spline<3>::ControlVector, 2>
 SplineHelper::CubicControlVectorsFromWaypoints(
     const trajopt::Pose2d& start,
     const std::vector<trajopt::Translation2d>& interiorWaypoints,