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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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7
wpimath/src/test/native/cpp/StateSpaceTest.cpp
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@@ -11,10 +11,10 @@
#include "wpi/math/controller/LinearQuadraticRegulator.hpp"
#include "wpi/math/estimator/KalmanFilter.hpp"
#include "wpi/math/linalg/EigenCore.hpp"
#include "wpi/math/system/DCMotor.hpp"
#include "wpi/math/system/LinearSystem.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/time.hpp"
namespace wpi::math {
@@ -36,7 +36,8 @@ class StateSpaceTest : public testing::Test {
// Gear ratio
constexpr double G = 40.0 / 40.0;
return wpi::math::LinearSystemId::ElevatorSystem(motors, m, r, G).Slice(0);
return wpi::math::Models::ElevatorFromPhysicalConstants(motors, m, r, G)
.Slice(0);
}();
LinearQuadraticRegulator<2, 1> controller{plant, {0.02, 0.4}, {12.0}, kDt};
KalmanFilter<2, 1, 1> observer{plant, {0.05, 1.0}, {0.0001}, kDt};