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[wpimath] Reorganize LinearSystem factories (#8468)

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This commit is contained in:
Tyler Veness
2026-01-12 19:09:35 -08:00
committed by GitHub
parent 89d0759ef2
commit 00fa8361dd
108 changed files with 1808 additions and 2138 deletions
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6
wpimath/src/main/python/pyproject.toml
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@@ -1560,17 +1560,15 @@ SplineHelper = "wpi/math/spline/SplineHelper.hpp"
SplineParameterizer = "wpi/math/spline/SplineParameterizer.hpp"
# wpi/math/system
DCMotor = "wpi/math/system/DCMotor.hpp"
# Discretization = "wpi/math/system/Discretization.hpp"
LinearSystem = "wpi/math/system/LinearSystem.hpp"
LinearSystemLoop = "wpi/math/system/LinearSystemLoop.hpp"
# LinearSystemUtil = "wpi/math/system/LinearSystemUtil.hpp"
Models = "wpi/math/system/Models.hpp"
# NumericalIntegration = "wpi/math/system/NumericalIntegration.hpp"
# NumericalJacobian = "wpi/math/system/NumericalJacobian.hpp"
# wpi/math/system/plant
DCMotor = "wpi/math/system/plant/DCMotor.hpp"
LinearSystemId = "wpi/math/system/plant/LinearSystemId.hpp"
# wpi/math/trajectory
ExponentialProfile = "wpi/math/trajectory/ExponentialProfile.hpp"
Trajectory = "wpi/math/trajectory/Trajectory.hpp"

4
wpimath/src/main/python/semiwrap/ElevatorFeedforward.yml
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@@ -10,10 +10,6 @@ classes:
wpi::units::volt_t, wpi::units::volt_t, wpi::units::unit_t<kv_unit>, wpi::units::unit_t<ka_unit>:
Calculate:
overloads:
wpi::units::unit_t<Velocity>, wpi::units::unit_t<Acceleration> [const]:
ignore: true
wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity>, wpi::units::second_t [const]:
ignore: true
wpi::units::unit_t<Velocity> [const]:
wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity> [const]:
MaxAchievableVelocity:

59
wpimath/src/main/python/semiwrap/LinearSystemId.yml
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@@ -1,59 +0,0 @@
classes:
wpi::math::LinearSystemId:
typealias:
- kv_meters = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::meters_per_second>>>
- kv_radians = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::radians_per_second>>>
- ka_meters = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::meters_per_second_squared>>>
- ka_radians = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::radians_per_second_squared>>>
methods:
ElevatorSystem:
SingleJointedArmSystem:
IdentifyVelocitySystem:
rename: identifyVelocitySystemMeters
cpp_code: |
[](kv_meters kV, ka_meters kA) {
return wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::meter>(kV, kA);
}
IdentifyPositionSystem:
rename: identifyPositionSystemMeters
cpp_code: |
[](kv_meters kV, ka_meters kA) {
return wpi::math::LinearSystemId::IdentifyPositionSystem<wpi::units::meter>(kV, kA);
}
IdentifyDrivetrainSystem:
overloads:
decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_mps), decltype(1_V/1_mps_sq):
cpp_code: |
[](kv_meters kVlinear, ka_meters kAlinear, kv_meters kVangular, ka_meters kAangular) {
return wpi::math::LinearSystemId::IdentifyDrivetrainSystem(kVlinear, kAlinear, kVangular, kAangular);
}
decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_rad_per_s), decltype(1_V/1_rad_per_s_sq), wpi::units::meter_t:
cpp_code: |
[](kv_meters kVlinear, ka_meters kAlinear, kv_radians kVangular, ka_radians kAangular, wpi::units::meter_t trackWidth) {
return wpi::math::LinearSystemId::IdentifyDrivetrainSystem(kVlinear, kAlinear, kVangular, kAangular, trackWidth);
}
FlywheelSystem:
DCMotorSystem:
overloads:
DCMotor, wpi::units::kilogram_square_meter_t, double:
decltype(1_V/Velocity_t<Distance> (1)), decltype(1_V/Acceleration_t<Distance> (1)):
cpp_code: |
[](kv_meters kv, ka_meters ka) {
return wpi::math::LinearSystemId::DCMotorSystem<wpi::units::meter>(kv, ka);
}
DrivetrainVelocitySystem:
inline_code: |
.def_static("DCMotorSystemRadians", [](kv_radians kV, ka_radians kA) {
return wpi::math::LinearSystemId::DCMotorSystem<wpi::units::radian>(kV, kA);
}, py::arg("kV"), py::arg("kA"), release_gil()
)
.def_static("identifyVelocitySystemRadians", [](kv_radians kV, ka_radians kA) {
return wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::radian>(kV, kA);
}, py::arg("kV"), py::arg("kA"), release_gil()
)
.def_static("identifyPositionSystemRadians", [](kv_radians kV, ka_radians kA) {
return wpi::math::LinearSystemId::IdentifyPositionSystem<wpi::units::radian>(kV, kA);
}, py::arg("kV"), py::arg("kA"), release_gil()
)

14
wpimath/src/main/python/semiwrap/Models.yml Normal file
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@@ -0,0 +1,14 @@
classes:
wpi::math::Models:
methods:
FlywheelFromPhysicalConstants:
FlywheelFromSysId:
ElevatorFromPhysicalConstants:
ElevatorFromSysId:
SingleJointedArmFromPhysicalConstants:
SingleJointedArmFromSysId:
DifferentialDriveFromPhysicalConstants:
DifferentialDriveFromSysId:
overloads:
decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_mps), decltype(1_V/1_mps_sq):
decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_rad_per_s), decltype(1_V/1_rad_per_s_sq), wpi::units::meter_t:

4
wpimath/src/main/python/wpimath/__init__.py
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@@ -60,7 +60,6 @@ from ._wpimath import (
LinearQuadraticRegulator_2_1,
LinearQuadraticRegulator_2_2,
LinearQuadraticRegulator_3_2,
LinearSystemId,
LinearSystemLoop_1_1_1,
LinearSystemLoop_2_1_1,
LinearSystemLoop_2_1_2,
@@ -94,6 +93,7 @@ from ._wpimath import (
MecanumDriveWheelPositions,
MecanumDriveWheelSpeeds,
MedianFilter,
Models,
PIDController,
Pose2d,
Pose3d,
@@ -247,7 +247,6 @@ __all__ = [
"LinearQuadraticRegulator_2_1",
"LinearQuadraticRegulator_2_2",
"LinearQuadraticRegulator_3_2",
"LinearSystemId",
"LinearSystemLoop_1_1_1",
"LinearSystemLoop_2_1_1",
"LinearSystemLoop_2_1_2",
@@ -281,6 +280,7 @@ __all__ = [
"MecanumDriveWheelPositions",
"MecanumDriveWheelSpeeds",
"MedianFilter",
"Models",
"PIDController",
"Pose2d",
"Pose3d",