[wpimath] Reorganize LinearSystem factories (#8468)

2026-06-19 00:41:43 +00:00 · 2026-01-12 19:09:35 -08:00
parent 89d0759ef2
commit 00fa8361dd
108 changed files with 1808 additions and 2138 deletions
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -6,6 +6,10 @@

 #include <vector>

+#include "wpi/math/util/ComputerVisionUtil.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/system/RobotController.hpp"
+
 Drivetrain::Drivetrain() {
  m_leftLeader.AddFollower(m_leftFollower);
  m_rightLeader.AddFollower(m_rightFollower);
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp
@@ -16,19 +16,14 @@
 #include "wpi/math/estimator/DifferentialDrivePoseEstimator.hpp"
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Pose3d.hpp"
-#include "wpi/math/geometry/Quaternion.hpp"
 #include "wpi/math/geometry/Transform3d.hpp"
 #include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
-#include "wpi/math/system/plant/LinearSystemId.hpp"
-#include "wpi/math/util/ComputerVisionUtil.hpp"
+#include "wpi/math/system/Models.hpp"
 #include "wpi/nt/DoubleArrayTopic.hpp"
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/simulation/DifferentialDrivetrainSim.hpp"
 #include "wpi/simulation/EncoderSim.hpp"
 #include "wpi/smartdashboard/Field2d.hpp"
-#include "wpi/smartdashboard/SmartDashboard.hpp"
-#include "wpi/system/RobotController.hpp"
-#include "wpi/system/Timer.hpp"
 #include "wpi/units/angle.hpp"
 #include "wpi/units/angular_velocity.hpp"
 #include "wpi/units/length.hpp"
@@ -174,7 +169,7 @@ class Drivetrain {
  wpi::Field2d m_fieldSim;
  wpi::Field2d m_fieldApproximation;
  wpi::math::LinearSystem<2, 2, 2> m_drivetrainSystem =
-      wpi::math::LinearSystemId::IdentifyDrivetrainSystem(
+      wpi::math::Models::DifferentialDriveFromSysId(
          1.98_V / 1_mps, 0.2_V / 1_mps_sq, 1.5_V / 1_mps, 0.3_V / 1_mps_sq);
  wpi::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
      m_drivetrainSystem, kTrackwidth, wpi::math::DCMotor::CIM(2), 8, 2_in};
--- a/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
@@ -8,7 +8,7 @@
 #include "wpi/hardware/rotation/Encoder.hpp"
 #include "wpi/math/controller/BangBangController.hpp"
 #include "wpi/math/controller/SimpleMotorFeedforward.hpp"
-#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/system/Models.hpp"
 #include "wpi/simulation/EncoderSim.hpp"
 #include "wpi/simulation/FlywheelSim.hpp"
 #include "wpi/smartdashboard/SmartDashboard.hpp"
@@ -96,7 +96,7 @@ class Robot : public wpi::TimedRobot {

  wpi::math::DCMotor m_gearbox = wpi::math::DCMotor::NEO(1);
  wpi::math::LinearSystem<1, 1, 1> m_plant{
-      wpi::math::LinearSystemId::FlywheelSystem(
+      wpi::math::Models::FlywheelFromPhysicalConstants(
          m_gearbox, kFlywheelMomentOfInertia, kFlywheelGearing)};

  wpi::sim::FlywheelSim m_flywheelSim{m_plant, m_gearbox};
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp
@@ -14,7 +14,6 @@
 #include "wpi/math/estimator/MecanumDrivePoseEstimator.hpp"
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
-#include "wpi/math/kinematics/MecanumDriveOdometry.hpp"
 #include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"

 /**
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
@@ -13,12 +13,11 @@
 #include "wpi/math/controller/SimpleMotorFeedforward.hpp"
 #include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
 #include "wpi/math/kinematics/DifferentialDriveOdometry.hpp"
-#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/system/Models.hpp"
 #include "wpi/simulation/DifferentialDrivetrainSim.hpp"
 #include "wpi/simulation/EncoderSim.hpp"
 #include "wpi/smartdashboard/Field2d.hpp"
 #include "wpi/smartdashboard/SmartDashboard.hpp"
-#include "wpi/units/angle.hpp"
 #include "wpi/units/angular_velocity.hpp"
 #include "wpi/units/length.hpp"
 #include "wpi/units/velocity.hpp"
@@ -104,7 +103,7 @@ class Drivetrain {
  wpi::sim::EncoderSim m_rightEncoderSim{m_rightEncoder};
  wpi::Field2d m_fieldSim;
  wpi::math::LinearSystem<2, 2, 2> m_drivetrainSystem =
-      wpi::math::LinearSystemId::IdentifyDrivetrainSystem(
+      wpi::math::Models::DifferentialDriveFromSysId(
          1.98_V / 1_mps, 0.2_V / 1_mps_sq, 1.5_V / 1_mps, 0.3_V / 1_mps_sq);
  wpi::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
      m_drivetrainSystem, kTrackwidth, wpi::math::DCMotor::CIM(2), 8, 2_in};
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
@@ -4,16 +4,15 @@

 #include <numbers>

-#include "wpi/drive/DifferentialDrive.hpp"
 #include "wpi/driverstation/XboxController.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 #include "wpi/hardware/rotation/Encoder.hpp"
 #include "wpi/math/controller/LinearQuadraticRegulator.hpp"
 #include "wpi/math/estimator/KalmanFilter.hpp"
+#include "wpi/math/system/DCMotor.hpp"
 #include "wpi/math/system/LinearSystemLoop.hpp"
-#include "wpi/math/system/plant/DCMotor.hpp"
-#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/system/Models.hpp"
 #include "wpi/math/trajectory/TrapezoidProfile.hpp"
 #include "wpi/units/angle.hpp"
 #include "wpi/units/moment_of_inertia.hpp"
@@ -47,7 +46,7 @@ class Robot : public wpi::TimedRobot {
  // Inputs (what we can "put in"): [voltage], in volts.
  // Outputs (what we can measure): [position], in radians.
  wpi::math::LinearSystem<2, 1, 1> m_armPlant =
-      wpi::math::LinearSystemId::SingleJointedArmSystem(
+      wpi::math::Models::SingleJointedArmFromPhysicalConstants(
          wpi::math::DCMotor::NEO(2), kArmMOI, kArmGearing)
          .Slice(0);

--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
@@ -4,16 +4,15 @@

 #include <numbers>

-#include "wpi/drive/DifferentialDrive.hpp"
 #include "wpi/driverstation/XboxController.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 #include "wpi/hardware/rotation/Encoder.hpp"
 #include "wpi/math/controller/LinearQuadraticRegulator.hpp"
 #include "wpi/math/estimator/KalmanFilter.hpp"
+#include "wpi/math/system/DCMotor.hpp"
 #include "wpi/math/system/LinearSystemLoop.hpp"
-#include "wpi/math/system/plant/DCMotor.hpp"
-#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/system/Models.hpp"
 #include "wpi/math/trajectory/TrapezoidProfile.hpp"
 #include "wpi/units/acceleration.hpp"
 #include "wpi/units/length.hpp"
@@ -44,7 +43,7 @@ class Robot : public wpi::TimedRobot {
  // Inputs (what we can "put in"): [voltage], in volts.
  // Outputs (what we can measure): [position], in meters.
  wpi::math::LinearSystem<2, 1, 1> m_elevatorPlant =
-      wpi::math::LinearSystemId::ElevatorSystem(
+      wpi::math::Models::ElevatorFromPhysicalConstants(
          wpi::math::DCMotor::NEO(2), kCarriageMass, kDrumRadius, kGearRatio)
          .Slice(0);

--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
@@ -4,17 +4,15 @@

 #include <numbers>

-#include "wpi/drive/DifferentialDrive.hpp"
-#include "wpi/driverstation/DriverStation.hpp"
 #include "wpi/driverstation/XboxController.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 #include "wpi/hardware/rotation/Encoder.hpp"
 #include "wpi/math/controller/LinearQuadraticRegulator.hpp"
 #include "wpi/math/estimator/KalmanFilter.hpp"
+#include "wpi/math/system/DCMotor.hpp"
 #include "wpi/math/system/LinearSystemLoop.hpp"
-#include "wpi/math/system/plant/DCMotor.hpp"
-#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/system/Models.hpp"
 #include "wpi/units/angular_velocity.hpp"

 /**
@@ -42,9 +40,9 @@ class Robot : public wpi::TimedRobot {
  // Inputs (what we can "put in"): [voltage], in volts.
  // Outputs (what we can measure): [velocity], in radians per second.
  wpi::math::LinearSystem<1, 1, 1> m_flywheelPlant =
-      wpi::math::LinearSystemId::FlywheelSystem(wpi::math::DCMotor::NEO(2),
-                                                kFlywheelMomentOfInertia,
-                                                kFlywheelGearing);
+      wpi::math::Models::FlywheelFromPhysicalConstants(
+          wpi::math::DCMotor::NEO(2), kFlywheelMomentOfInertia,
+          kFlywheelGearing);

  // The observer fuses our encoder data and voltage inputs to reject noise.
  wpi::math::KalmanFilter<1, 1, 1> m_observer{
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
@@ -4,8 +4,6 @@

 #include <numbers>

-#include "wpi/drive/DifferentialDrive.hpp"
-#include "wpi/driverstation/DriverStation.hpp"
 #include "wpi/driverstation/XboxController.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
@@ -13,8 +11,7 @@
 #include "wpi/math/controller/LinearQuadraticRegulator.hpp"
 #include "wpi/math/estimator/KalmanFilter.hpp"
 #include "wpi/math/system/LinearSystemLoop.hpp"
-#include "wpi/math/system/plant/DCMotor.hpp"
-#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/system/Models.hpp"

 /**
 * This is a sample program to demonstrate how to use a state-space controller
@@ -42,8 +39,7 @@ class Robot : public wpi::TimedRobot {
  //
  // The Kv and Ka constants are found using the FRC Characterization toolsuite.
  wpi::math::LinearSystem<1, 1, 1> m_flywheelPlant =
-      wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::radian>(
-          kFlywheelKv, kFlywheelKa);
+      wpi::math::Models::FlywheelFromSysId(kFlywheelKv, kFlywheelKa);

  // The observer fuses our encoder data and voltage inputs to reject noise.
  wpi::math::KalmanFilter<1, 1, 1> m_observer{
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp
@@ -11,7 +11,6 @@
 #include "wpi/math/estimator/SwerveDrivePoseEstimator.hpp"
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
-#include "wpi/math/kinematics/SwerveDriveOdometry.hpp"

 /**
 * Represents a swerve drive style drivetrain.
--- a/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
@@ -10,7 +10,7 @@
 #include "Robot.hpp"
 #include "wpi/hal/DriverStationTypes.h"
 #include "wpi/hal/simulation/MockHooks.h"
-#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/DCMotor.hpp"
 #include "wpi/simulation/AnalogInputSim.hpp"
 #include "wpi/simulation/DriverStationSim.hpp"
 #include "wpi/simulation/ElevatorSim.hpp"