[wpimath] Remove unused SimpleMatrixUtils class

It looks like it was gradually replaced by JNI wrappers around Eigen.
wpilibsuite · Nov 30, 2023 · 6ab8907 · 6ab8907
1 parent 23dd591
commit 6ab8907
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diff --git a/wpimath/src/main/java/edu/wpi/first/math/SimpleMatrixUtils.java b/wpimath/src/main/java/edu/wpi/first/math/SimpleMatrixUtils.java
diff --git a/wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java b/wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java
@@ -15,8 +15,6 @@
 import edu.wpi.first.wpilibj.UtilityClassTest;
 import java.util.ArrayList;
 import java.util.List;
-import org.ejml.dense.row.MatrixFeatures_DDRM;
-import org.ejml.simple.SimpleMatrix;
 import org.junit.jupiter.api.Test;
 
 class StateSpaceUtilTest extends UtilityClassTest<StateSpaceUtil> {
@@ -154,29 +152,6 @@ void testMatrixExp() {
             1E-8));
   }
 
-  @Test
-  void testSimpleMatrixExp() {
-    SimpleMatrix matrix = SimpleMatrixUtils.eye(2);
-    var result = SimpleMatrixUtils.exp(matrix);
-
-    assertTrue(
-        MatrixFeatures_DDRM.isIdentical(
-            result.getDDRM(),
-            new SimpleMatrix(2, 2, true, new double[] {Math.E, 0, 0, Math.E}).getDDRM(),
-            1E-9));
-
-    matrix = new SimpleMatrix(2, 2, true, new double[] {1, 2, 3, 4});
-    result = SimpleMatrixUtils.exp(matrix.scale(0.01));
-
-    assertTrue(
-        MatrixFeatures_DDRM.isIdentical(
-            result.getDDRM(),
-            new SimpleMatrix(
-                    2, 2, true, new double[] {1.01035625, 0.02050912, 0.03076368, 1.04111993})
-                .getDDRM(),
-            1E-8));
-  }
-
   @Test
   void testPoseToVector() {
     Pose2d pose = new Pose2d(1, 2, new Rotation2d(3));