EigenCore.h

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#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