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[wpimath] Fix units of RamseteController's b and zeta (#3757)

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Fixes #3755.
This commit is contained in:
Tyler Veness
2021-12-03 18:21:30 -08:00
committed by GitHub
parent 5da54888f8
commit 04957a6d30
6 changed files with 62 additions and 31 deletions
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36
wpimath/src/main/native/include/frc/controller/RamseteController.h
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@@ -5,11 +5,13 @@
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/deprecated.h>
#include "frc/geometry/Pose2d.h"
#include "frc/kinematics/ChassisSpeeds.h"
#include "frc/trajectory/Trajectory.h"
#include "units/angular_velocity.h"
#include "units/length.h"
#include "units/velocity.h"
namespace frc {
@@ -43,22 +45,38 @@ namespace frc {
*/
class WPILIB_DLLEXPORT RamseteController {
public:
using b_unit =
units::compound_unit<units::squared<units::radians>,
units::inverse<units::squared<units::meters>>>;
using zeta_unit = units::inverse<units::radians>;
/**
* Construct a Ramsete unicycle controller.
*
* @param b Tuning parameter (b > 0) for which larger values make
* @param b Tuning parameter (b > 0 rad²/m²) for which larger values make
* convergence more aggressive like a proportional term.
* @param zeta Tuning parameter (0 < zeta < 1) for which larger values provide
* more damping in response.
* @param zeta Tuning parameter (0 rad⁻¹ < zeta < 1 rad⁻¹) for which larger
* values provide more damping in response.
*/
WPI_DEPRECATED("Use unit-safe constructor instead")
RamseteController(double b, double zeta);
/**
* Construct a Ramsete unicycle controller. The default arguments for
* b and zeta of 2.0 and 0.7 have been well-tested to produce desirable
* results.
* Construct a Ramsete unicycle controller.
*
* @param b Tuning parameter (b > 0 rad²/m²) for which larger values make
* convergence more aggressive like a proportional term.
* @param zeta Tuning parameter (0 rad⁻¹ < zeta < 1 rad⁻¹) for which larger
* values provide more damping in response.
*/
RamseteController() : RamseteController(2.0, 0.7) {}
RamseteController(units::unit_t<b_unit> b, units::unit_t<zeta_unit> zeta);
/**
* Construct a Ramsete unicycle controller. The default arguments for
* b and zeta of 2.0 rad²/m² and 0.7 rad⁻¹ have been well-tested to produce
* desirable results.
*/
RamseteController();
/**
* Returns true if the pose error is within tolerance of the reference.
@@ -109,8 +127,8 @@ class WPILIB_DLLEXPORT RamseteController {
void SetEnabled(bool enabled);
private:
double m_b;
double m_zeta;
units::unit_t<b_unit> m_b;
units::unit_t<zeta_unit> m_zeta;
Pose2d m_poseError;
Pose2d m_poseTolerance;