Merge pull request #25 from Simple-Robotics/topic/more-eigen-refs

Use Eigen::Ref types more

Author: edantec

.pre-commit-config.yaml

@@ -4,7 +4,7 @@ ci:
   submodules: true
 repos:
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.4
+    rev: v19.1.5
     hooks:
     - id: clang-format
       types_or: []

include/simple-mpc/fwd.hpp

@@ -43,7 +43,9 @@ namespace simple_mpc
 
   using Eigen::MatrixXd;
   using Eigen::VectorXd;
+  using MatrixRef = Eigen::Ref<MatrixXd>;
   using VectorRef = Eigen::Ref<VectorXd>;
+  using ConstMatrixRef = Eigen::Ref<const MatrixXd>;
   using ConstVectorRef = Eigen::Ref<const VectorXd>;
 
   using Vector6d = Eigen::Matrix<double, 6, 1>;

include/simple-mpc/lowlevel-control.hpp

@@ -22,7 +22,6 @@
 namespace simple_mpc
 {
   using namespace proxsuite;
-  using pin::SE3;
 
   struct IDSettings
   {
@@ -88,23 +87,23 @@ namespace simple_mpc
     void computeMatrices(
       pin::Data & data,
       const std::vector<bool> & contact_state,
-      const Eigen::VectorXd & v,
-      const Eigen::VectorXd & a,
-      const Eigen::VectorXd & tau,
-      const Eigen::VectorXd & forces,
-      const Eigen::MatrixXd & M);
+      const ConstVectorRef & v,
+      const ConstVectorRef & a,
+      const ConstVectorRef & tau,
+      const ConstVectorRef & forces,
+      const ConstMatrixRef & M);
 
   public:
     explicit IDSolver(const IDSettings & settings, const pin::Model & model);
 
     void solveQP(
       pin::Data & data,
       const std::vector<bool> & contact_state,
-      const Eigen::VectorXd & v,
-      const Eigen::VectorXd & a,
-      const Eigen::VectorXd & tau,
-      const Eigen::VectorXd & forces,
-      const Eigen::MatrixXd & M);
+      const ConstVectorRef & v,
+      const ConstVectorRef & a,
+      const ConstVectorRef & tau,
+      const ConstVectorRef & forces,
+      const ConstMatrixRef & M);
 
     SIMPLE_MPC_DEPRECATED
     proxqp::dense::Model<double> getQP()
@@ -181,27 +180,27 @@ namespace simple_mpc
     void computeMatrices(
       pin::Data & data,
       const std::vector<bool> & contact_state,
-      const Eigen::VectorXd & x_measured,
-      const Eigen::VectorXd & forces,
-      const Eigen::VectorXd & dH,
-      const Eigen::MatrixXd & M);
+      const ConstVectorRef & x_measured,
+      const ConstVectorRef & forces,
+      const ConstVectorRef & dH,
+      const ConstMatrixRef & M);
 
   public:
     explicit IKIDSolver(const IKIDSettings & settings, const pin::Model & model);
 
     void computeDifferences(
       pin::Data & data,
-      const Eigen::VectorXd & x_measured,
-      const std::vector<pin::SE3> foot_refs,
-      const std::vector<pin::SE3> foot_refs_next);
+      const ConstVectorRef & x_measured,
+      const std::vector<pin::SE3> & foot_refs,
+      const std::vector<pin::SE3> & foot_refs_next);
 
     void solve_qp(
       pin::Data & data,
       const std::vector<bool> & contact_state,
-      const Eigen::VectorXd & x_measured,
-      const Eigen::VectorXd & forces,
-      const Eigen::VectorXd & dH,
-      const Eigen::MatrixXd & M);
+      const ConstVectorRef & x_measured,
+      const ConstVectorRef & forces,
+      const ConstVectorRef & dH,
+      const ConstMatrixRef & M);
 
     SIMPLE_MPC_DEPRECATED
     proxqp::dense::Model<double> getQP()

src/lowlevel-control.cpp

@@ -99,11 +99,11 @@ namespace simple_mpc
   void IDSolver::computeMatrices(
     pinocchio::Data & data,
     const std::vector<bool> & contact_state,
-    const Eigen::VectorXd & v,
-    const Eigen::VectorXd & a,
-    const Eigen::VectorXd & tau,
-    const Eigen::VectorXd & forces,
-    const Eigen::MatrixXd & M)
+    const ConstVectorRef & v,
+    const ConstVectorRef & a,
+    const ConstVectorRef & tau,
+    const ConstVectorRef & forces,
+    const ConstMatrixRef & M)
   {
     // Reset matrices
     Jc_.setZero();
@@ -160,11 +160,11 @@ namespace simple_mpc
   void IDSolver::solveQP(
     pinocchio::Data & data,
     const std::vector<bool> & contact_state,
-    const Eigen::VectorXd & v,
-    const Eigen::VectorXd & a,
-    const Eigen::VectorXd & tau,
-    const Eigen::VectorXd & forces,
-    const Eigen::MatrixXd & M)
+    const ConstVectorRef & v,
+    const ConstVectorRef & a,
+    const ConstVectorRef & tau,
+    const ConstVectorRef & forces,
+    const ConstMatrixRef & M)
   {
 
     computeMatrices(data, contact_state, v, a, tau, forces, M);
@@ -292,9 +292,9 @@ namespace simple_mpc
 
   void IKIDSolver::computeDifferences(
     pinocchio::Data & data,
-    const Eigen::VectorXd & x_measured,
-    const std::vector<pinocchio::SE3> foot_refs,
-    const std::vector<pinocchio::SE3> foot_refs_next)
+    const ConstVectorRef & x_measured,
+    const std::vector<pinocchio::SE3> & foot_refs,
+    const std::vector<pinocchio::SE3> & foot_refs_next)
   {
     difference(model_, x_measured.head(model_.nq), settings_.x0.head(model_.nq), q_diff_);
     dq_diff_ = settings_.x0.tail(model_.nv) - x_measured.tail(model_.nv);
@@ -322,10 +322,10 @@ namespace simple_mpc
   void IKIDSolver::computeMatrices(
     pinocchio::Data & data,
     const std::vector<bool> & contact_state,
-    const Eigen::VectorXd & v_current,
-    const Eigen::VectorXd & forces,
-    const Eigen::VectorXd & dH,
-    const Eigen::MatrixXd & M)
+    const ConstVectorRef & v_current,
+    const ConstVectorRef & forces,
+    const ConstVectorRef & dH,
+    const ConstMatrixRef & M)
   {
 
     H_.topLeftCorner(model_.nv, model_.nv) = settings_.w_qref * Eigen::MatrixXd::Identity(model_.nv, model_.nv);
@@ -409,10 +409,10 @@ namespace simple_mpc
   void IKIDSolver::solve_qp(
     pinocchio::Data & data,
     const std::vector<bool> & contact_state,
-    const Eigen::VectorXd & v_current,
-    const Eigen::VectorXd & forces,
-    const Eigen::VectorXd & dH,
-    const Eigen::MatrixXd & M)
+    const ConstVectorRef & v_current,
+    const ConstVectorRef & forces,
+    const ConstVectorRef & dH,
+    const ConstMatrixRef & M)
   {
     computeMatrices(data, contact_state, v_current, forces, dH, M);