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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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13
wpimath/src/main/native/include/frc/controller/LTVUnicycleController.h
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@@ -33,13 +33,14 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
public:
/**
* 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).
* desired error tolerances of (x = 0.0625 m, y = 0.125 m, heading = 2 rad)
* and default maximum desired control effort of (linear velocity = 1 m/s,
* angular velocity = 2 rad/s).
*
* @param dt Discretization timestep.
* @param maxVelocity The maximum velocity for the controller gain lookup
* table.
* @throws std::domain_error if maxVelocity <= 0.
* @throws std::domain_error if maxVelocity <= 0 m/s or >= 15 m/s.
*/
explicit LTVUnicycleController(
units::second_t dt, units::meters_per_second_t maxVelocity = 9_mps);
@@ -51,8 +52,10 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
* https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
* 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.
* @param maxVelocity The maximum velocity for the controller gain lookup
* table.