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[wpimath] improve LTVUnicycleController docs (NFC) (#7599)

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Document the states and inputs so it isn't necessary to look at the code
Fix max velocity throws doc
This commit is contained in:
sciencewhiz
2024-12-28 14:03:47 -08:00
committed by GitHub
parent 57344ef3b2
commit 203487a6aa
2 changed files with 22 additions and 14 deletions
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23
wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java
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@@ -54,8 +54,9 @@ public class LTVUnicycleController {
/**
* Constructs a linear time-varying unicycle controller with default maximum desired error
* tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s,
* 2 rad/s).
* tolerances of (x = 0.0625 m, y = 0.125 m, heading = 2 rad), default maximum desired control
* effort of (linear velocity = 1 m/s, angular velocity = 2 rad/s), and default maximum Velocity
* of 9 m/s.
*
* @param dt Discretization timestep in seconds.
*/
@@ -65,13 +66,13 @@ public class LTVUnicycleController {
/**
* Constructs a linear time-varying unicycle controller with default maximum desired error
* tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s,
* 2 rad/s).
* tolerances of (x = 0.0625 m, y = 0.125 m, heading = 2 rad), default maximum desired control
* effort of (1 m/s, 2 rad/s).
*
* @param dt Discretization timestep in seconds.
* @param maxVelocity The maximum velocity in meters per second for the controller gain lookup
* table. The default is 9 m/s.
* @throws IllegalArgumentException if maxVelocity <= 0.
* @throws IllegalArgumentException if maxVelocity <= 0 m/s or >= 15 m/s.
*/
public LTVUnicycleController(double dt, double maxVelocity) {
this(VecBuilder.fill(0.0625, 0.125, 2.0), VecBuilder.fill(1.0, 2.0), dt, maxVelocity);
@@ -84,8 +85,11 @@ public class LTVUnicycleController {
* href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
* for how to select the tolerances.
*
* @param qelems The maximum desired error tolerance for each state.
* @param relems The maximum desired control effort for each input.
* <p>The default maximum Velocity is 9 m/s.
*
* @param qelems The maximum desired error tolerance for each state (x, y, heading).
* @param relems The maximum desired control effort for each input (linear velocity, angular
* velocity).
* @param dt Discretization timestep in seconds.
*/
public LTVUnicycleController(Vector<N3> qelems, Vector<N2> relems, double dt) {
@@ -99,8 +103,9 @@ public class LTVUnicycleController {
* href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
* for how to select the tolerances.
*
* @param qelems The maximum desired error tolerance for each state.
* @param relems The maximum desired control effort for each input.
* @param qelems The maximum desired error tolerance for each state (x, y, heading).
* @param relems The maximum desired control effort for each input (linear velocity, angular
* velocity).
* @param dt Discretization timestep in seconds.
* @param maxVelocity The maximum velocity in meters per second for the controller gain lookup
* table. The default is 9 m/s.