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[wpimath] Upgrade to EJML 0.42 (#5531)

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This commit is contained in:
Tyler Veness
2023-08-11 23:25:43 -07:00
committed by GitHub
parent faf3cecd83
commit 00450c3548
6 changed files with 39 additions and 39 deletions
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12
wpimath/src/main/java/edu/wpi/first/math/DARE.java
View File

@@ -21,14 +21,14 @@ public final class DARE {
* @return Solution of DARE.
*/
public static SimpleMatrix dare(SimpleMatrix A, SimpleMatrix B, SimpleMatrix Q, SimpleMatrix R) {
var S = new SimpleMatrix(A.numRows(), A.numCols());
var S = new SimpleMatrix(A.getNumRows(), A.getNumCols());
WPIMathJNI.dare(
A.getDDRM().getData(),
B.getDDRM().getData(),
Q.getDDRM().getData(),
R.getDDRM().getData(),
A.numCols(),
B.numCols(),
A.getNumCols(),
B.getNumCols(),
S.getDDRM().getData());
return S;
}
@@ -70,14 +70,14 @@ public final class DARE {
var scrA = A.minus(B.mult(R.solve(N.transpose())));
var scrQ = Q.minus(N.mult(R.solve(N.transpose())));
var S = new SimpleMatrix(A.numRows(), A.numCols());
var S = new SimpleMatrix(A.getNumRows(), A.getNumCols());
WPIMathJNI.dare(
scrA.getDDRM().getData(),
B.getDDRM().getData(),
scrQ.getDDRM().getData(),
R.getDDRM().getData(),
A.numCols(),
B.numCols(),
A.getNumCols(),
B.getNumCols(),
S.getDDRM().getData());
return S;
}

8
wpimath/src/main/java/edu/wpi/first/math/Matrix.java
View File

@@ -80,7 +80,7 @@ public class Matrix<R extends Num, C extends Num> {
* @return The number of columns, according to the internal storage.
*/
public final int getNumCols() {
return this.m_storage.numCols();
return this.m_storage.getNumCols();
}
/**
@@ -89,7 +89,7 @@ public class Matrix<R extends Num, C extends Num> {
* @return The number of rows, according to the internal storage.
*/
public final int getNumRows() {
return this.m_storage.numRows();
return this.m_storage.getNumRows();
}
/**
@@ -582,7 +582,7 @@ public class Matrix<R extends Num, C extends Num> {
SimpleMatrix temp = m_storage.copy();
CholeskyDecomposition_F64<DMatrixRMaj> chol =
DecompositionFactory_DDRM.chol(temp.numRows(), lowerTriangular);
DecompositionFactory_DDRM.chol(temp.getNumRows(), lowerTriangular);
if (!chol.decompose(temp.getMatrix())) {
// check that the input is not all zeros -- if they are, we special case and return all
// zeros.
@@ -592,7 +592,7 @@ public class Matrix<R extends Num, C extends Num> {
isZeros &= Math.abs(matDatum) < 1e-6;
}
if (isZeros) {
return new Matrix<>(new SimpleMatrix(temp.numRows(), temp.numCols()));
return new Matrix<>(new SimpleMatrix(temp.getNumRows(), temp.getNumCols()));
}
throw new RuntimeException(

18
wpimath/src/main/java/edu/wpi/first/math/SimpleMatrixUtils.java
View File

@@ -68,7 +68,7 @@ public final class SimpleMatrixUtils {
private static Pair<SimpleMatrix, SimpleMatrix> pade3(SimpleMatrix A) {
double[] b = new double[] {120, 60, 12, 1};
SimpleMatrix ident = eye(A.numRows(), A.numCols());
SimpleMatrix ident = eye(A.getNumRows(), A.getNumCols());
SimpleMatrix A2 = A.mult(A);
SimpleMatrix U = A.mult(A2.mult(ident.scale(b[1]).plus(b[3])));
@@ -78,7 +78,7 @@ public final class SimpleMatrixUtils {
private static Pair<SimpleMatrix, SimpleMatrix> pade5(SimpleMatrix A) {
double[] b = new double[] {30240, 15120, 3360, 420, 30, 1};
SimpleMatrix ident = eye(A.numRows(), A.numCols());
SimpleMatrix ident = eye(A.getNumRows(), A.getNumCols());
SimpleMatrix A2 = A.mult(A);
SimpleMatrix A4 = A2.mult(A2);
@@ -90,7 +90,7 @@ public final class SimpleMatrixUtils {
private static Pair<SimpleMatrix, SimpleMatrix> pade7(SimpleMatrix A) {
double[] b = new double[] {17297280, 8648640, 1995840, 277200, 25200, 1512, 56, 1};
SimpleMatrix ident = eye(A.numRows(), A.numCols());
SimpleMatrix ident = eye(A.getNumRows(), A.getNumCols());
SimpleMatrix A2 = A.mult(A);
SimpleMatrix A4 = A2.mult(A2);
SimpleMatrix A6 = A4.mult(A2);
@@ -108,7 +108,7 @@ public final class SimpleMatrixUtils {
new double[] {
17643225600.0, 8821612800.0, 2075673600, 302702400, 30270240, 2162160, 110880, 3960, 90, 1
};
SimpleMatrix ident = eye(A.numRows(), A.numCols());
SimpleMatrix ident = eye(A.getNumRows(), A.getNumCols());
SimpleMatrix A2 = A.mult(A);
SimpleMatrix A4 = A2.mult(A2);
SimpleMatrix A6 = A4.mult(A2);
@@ -149,7 +149,7 @@ public final class SimpleMatrixUtils {
182,
1
};
SimpleMatrix ident = eye(A.numRows(), A.numCols());
SimpleMatrix ident = eye(A.getNumRows(), A.getNumCols());
SimpleMatrix A2 = A.mult(A);
SimpleMatrix A4 = A2.mult(A2);
@@ -213,7 +213,7 @@ public final class SimpleMatrixUtils {
SimpleMatrix temp = src.copy();
CholeskyDecomposition_F64<DMatrixRMaj> chol =
DecompositionFactory_DDRM.chol(temp.numRows(), lowerTriangular);
DecompositionFactory_DDRM.chol(temp.getNumRows(), lowerTriangular);
if (!chol.decompose(temp.getMatrix())) {
// check that the input is not all zeros -- if they are, we special case and return all
// zeros.
@@ -223,7 +223,7 @@ public final class SimpleMatrixUtils {
isZeros &= Math.abs(matDatum) < 1e-6;
}
if (isZeros) {
return new SimpleMatrix(temp.numRows(), temp.numCols());
return new SimpleMatrix(temp.getNumRows(), temp.getNumCols());
}
throw new RuntimeException("Cholesky decomposition failed! Input matrix:\n" + src.toString());
@@ -239,8 +239,8 @@ public final class SimpleMatrixUtils {
* @return the exponential of A.
*/
public static SimpleMatrix exp(SimpleMatrix A) {
SimpleMatrix toReturn = new SimpleMatrix(A.numRows(), A.numRows());
WPIMathJNI.exp(A.getDDRM().getData(), A.numRows(), toReturn.getDDRM().getData());
SimpleMatrix toReturn = new SimpleMatrix(A.getNumRows(), A.getNumRows());
WPIMathJNI.exp(A.getDDRM().getData(), A.getNumRows(), toReturn.getDDRM().getData());
return toReturn;
}
}