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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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1
wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimator3dTest.cpp
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@@ -16,7 +16,6 @@
#include "wpi/math/geometry/Rotation2d.hpp"
#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
#include "wpi/math/util/StateSpaceUtil.hpp"
#include "wpi/units/angle.hpp"
#include "wpi/units/length.hpp"
#include "wpi/units/time.hpp"

1
wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
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@@ -17,7 +17,6 @@
#include "wpi/math/geometry/Rotation2d.hpp"
#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
#include "wpi/math/util/StateSpaceUtil.hpp"
#include "wpi/units/angle.hpp"
#include "wpi/units/length.hpp"
#include "wpi/units/time.hpp"

2
wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp
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@@ -12,8 +12,8 @@
#include "wpi/math/linalg/EigenCore.hpp"
#include "wpi/math/random/Normal.hpp"
#include "wpi/math/system/DCMotor.hpp"
#include "wpi/math/system/NumericalJacobian.hpp"
#include "wpi/math/system/plant/DCMotor.hpp"
#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
#include "wpi/units/moment_of_inertia.hpp"

6
wpimath/src/test/native/cpp/estimator/KalmanFilterTest.cpp
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@@ -10,14 +10,14 @@
#include <Eigen/Core>
#include <gtest/gtest.h>
#include "wpi/math/system/plant/DCMotor.hpp"
#include "wpi/math/system/plant/LinearSystemId.hpp"
#include "wpi/math/system/DCMotor.hpp"
#include "wpi/math/system/Models.hpp"
#include "wpi/units/moment_of_inertia.hpp"
#include "wpi/units/time.hpp"
TEST(KalmanFilterTest, Flywheel) {
auto motor = wpi::math::DCMotor::NEO();
auto flywheel =
wpi::math::LinearSystemId::FlywheelSystem(motor, 1_kg_sq_m, 1.0);
wpi::math::Models::FlywheelFromPhysicalConstants(motor, 1_kg_sq_m, 1.0);
wpi::math::KalmanFilter<1, 1, 1> kf{flywheel, {1}, {1}, 5_ms};
}

9
wpimath/src/test/native/cpp/estimator/MerweUKFTest.cpp
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@@ -15,11 +15,11 @@
#include "wpi/math/estimator/AngleStatistics.hpp"
#include "wpi/math/linalg/EigenCore.hpp"
#include "wpi/math/random/Normal.hpp"
#include "wpi/math/system/DCMotor.hpp"
#include "wpi/math/system/Discretization.hpp"
#include "wpi/math/system/Models.hpp"
#include "wpi/math/system/NumericalIntegration.hpp"
#include "wpi/math/system/NumericalJacobian.hpp"
#include "wpi/math/system/plant/DCMotor.hpp"
#include "wpi/math/system/plant/LinearSystemId.hpp"
#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
#include "wpi/units/moment_of_inertia.hpp"
@@ -183,9 +183,8 @@ TEST(MerweUKFTest, DriveConvergence) {
TEST(MerweUKFTest, LinearUKF) {
constexpr wpi::units::second_t dt = 20_ms;
auto plant =
wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::meters>(
0.02_V / 1_mps, 0.006_V / 1_mps_sq);
auto plant = wpi::math::Models::FlywheelFromSysId(0.02_V / 1_rad_per_s,
0.006_V / 1_rad_per_s_sq);
wpi::math::MerweUKF<1, 1, 1> observer{
[&](const wpi::math::Vectord<1>& x, const wpi::math::Vectord<1>& u) {
return plant.A() * x + plant.B() * u;

9
wpimath/src/test/native/cpp/estimator/S3UKFTest.cpp
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@@ -15,11 +15,11 @@
#include "wpi/math/estimator/AngleStatistics.hpp"
#include "wpi/math/linalg/EigenCore.hpp"
#include "wpi/math/random/Normal.hpp"
#include "wpi/math/system/DCMotor.hpp"
#include "wpi/math/system/Discretization.hpp"
#include "wpi/math/system/Models.hpp"
#include "wpi/math/system/NumericalIntegration.hpp"
#include "wpi/math/system/NumericalJacobian.hpp"
#include "wpi/math/system/plant/DCMotor.hpp"
#include "wpi/math/system/plant/LinearSystemId.hpp"
#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
#include "wpi/units/moment_of_inertia.hpp"
@@ -183,9 +183,8 @@ TEST(S3UKFTest, DriveConvergence) {
TEST(S3UKFTest, LinearUKF) {
constexpr wpi::units::second_t dt = 20_ms;
auto plant =
wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::meters>(
0.02_V / 1_mps, 0.006_V / 1_mps_sq);
auto plant = wpi::math::Models::FlywheelFromSysId(0.02_V / 1_rad_per_s,
0.006_V / 1_rad_per_s_sq);
wpi::math::S3UKF<1, 1, 1> observer{
[&](const wpi::math::Vectord<1>& x, const wpi::math::Vectord<1>& u) {
return plant.A() * x + plant.B() * u;

1
wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimator3dTest.cpp
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@@ -16,7 +16,6 @@
#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
#include "wpi/util/print.hpp"
#include "wpi/util/timestamp.h"
void testFollowTrajectory(
const wpi::math::SwerveDriveKinematics<4>& kinematics,

1
wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
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@@ -17,7 +17,6 @@
#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
#include "wpi/util/print.hpp"
#include "wpi/util/timestamp.h"
void testFollowTrajectory(
const wpi::math::SwerveDriveKinematics<4>& kinematics,