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[wpimath] Implement Dormand-Prince integration method (#3476)

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Also refactored RKF45 implementation to match the new style, which is
easier to read.

The tests were switched from RKF45 to RKDP since it's more accurate.
This commit is contained in:
Tyler Veness
2021-07-11 10:42:33 -04:00
committed by GitHub
parent 9c2723391b
commit 1daadb812f
9 changed files with 392 additions and 187 deletions
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2
wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
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@@ -85,7 +85,7 @@ void ElevatorSim::SetInputVoltage(units::volt_t voltage) {
Eigen::Matrix<double, 2, 1> ElevatorSim::UpdateX(
const Eigen::Matrix<double, 2, 1>& currentXhat,
const Eigen::Matrix<double, 1, 1>& u, units::second_t dt) {
auto updatedXhat = RKF45(
auto updatedXhat = RKDP(
[&](const Eigen::Matrix<double, 2, 1>& x,
const Eigen::Matrix<double, 1, 1>& u_)
-> Eigen::Matrix<double, 2, 1> {