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[wpimath] Remove RKF45 (#4870)

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RKDP is strictly better in terms of accuracy per unit of work. We used
RKF45 for sim physics in the 2021 season, but we transitioned to RKDP
before the 2022 season.
This commit is contained in:
Tyler Veness
2022-12-27 17:29:59 -08:00
committed by GitHub
parent 835f8470d6
commit 2121bd5fb8
4 changed files with 0 additions and 237 deletions
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18
wpimath/src/test/java/edu/wpi/first/math/system/NumericalIntegrationTest.java
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@@ -30,24 +30,6 @@ class NumericalIntegrationTest {
assertEquals(Math.exp(0.1) - Math.exp(0.0), y1.get(0, 0), 1e-3);
}
@Test
void testExponentialRKF45() {
Matrix<N1, N1> y0 = VecBuilder.fill(0.0);
var y1 =
NumericalIntegration.rkf45(
(x, u) -> {
var y = new Matrix<>(Nat.N1(), Nat.N1());
y.set(0, 0, Math.exp(x.get(0, 0)));
return y;
},
y0,
VecBuilder.fill(0),
0.1);
assertEquals(Math.exp(0.1) - Math.exp(0.0), y1.get(0, 0), 1e-3);
}
@Test
void testExponentialRKDP() {
Matrix<N1, N1> y0 = VecBuilder.fill(0.0);