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[copybara] Resync robotpy (#8585)

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GitOrigin-RevId: fd000778e9b78c72cc7ca7b2ebe476129b78c6e0
This commit is contained in:
PJ Reiniger
2026-02-08 10:36:35 -05:00
committed by GitHub
parent 4aa21e947d
commit 227c89ab23
53 changed files with 1049 additions and 170 deletions
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8
wpimath/src/main/python/pyproject.toml
View File

@@ -1,7 +1,7 @@
[build-system]
build-backend = "hatchling.build"
requires = [
"semiwrap~=0.2.1",
"semiwrap~=0.2.6",
"hatch-meson~=0.1.0",
"hatch-robotpy~=0.2.1",
"hatchling",
@@ -69,8 +69,6 @@ scan_headers_ignore = [
"wpi/math/random/Normal.hpp",
"wpi/math/system/Discretization.hpp",
"wpi/math/system/NumericalIntegration.hpp",
"wpi/math/system/NumericalJacobian.hpp",
"wpi/math/proto/*",
"wpi/math/*/proto/*",
@@ -1566,8 +1564,8 @@ LinearSystem = "wpi/math/system/LinearSystem.hpp"
LinearSystemLoop = "wpi/math/system/LinearSystemLoop.hpp"
# LinearSystemUtil = "wpi/math/system/LinearSystemUtil.hpp"
Models = "wpi/math/system/Models.hpp"
# NumericalIntegration = "wpi/math/system/NumericalIntegration.hpp"
# NumericalJacobian = "wpi/math/system/NumericalJacobian.hpp"
NumericalIntegration = "wpi/math/system/NumericalIntegration.hpp"
NumericalJacobian = "wpi/math/system/NumericalJacobian.hpp"
# wpi/math/trajectory
ExponentialProfile = "wpi/math/trajectory/ExponentialProfile.hpp"

24
wpimath/src/main/python/semiwrap/LinearSystem.yml
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@@ -25,9 +25,31 @@ classes:
CalculateX:
CalculateY:
Slice:
# TODO?
ignore: true
template_inline_code: |
cls_LinearSystem.def("slice", [](wpi::math::LinearSystem<States, Inputs, Outputs> &self, int idx0) {
return self.Slice(idx0);
}, py::arg("outputIndex"),
py::doc("Returns the LinearSystem with the outputs listed in outputIndices.")
);
if constexpr (Outputs > 1) {
cls_LinearSystem.def("slice", [](wpi::math::LinearSystem<States, Inputs, Outputs> &self, int idx0, int idx1) {
return self.Slice(idx0, idx1);
}, py::arg("outputIndex0"), py::arg("outputIndex1"),
py::doc("Returns the LinearSystem with the outputs listed in outputIndices.")
);
}
if constexpr (Outputs > 2) {
cls_LinearSystem.def("slice", [](wpi::math::LinearSystem<States, Inputs, Outputs> &self, int idx0, int idx1, int idx2) {
return self.Slice(idx0, idx1, idx2);
}, py::arg("outputIndex0"), py::arg("outputIndex1"), py::arg("outputIndex2"),
py::doc("Returns the LinearSystem with the outputs listed in outputIndices.")
);
}
templates:
LinearSystem_1_1_1:
qualname: wpi::math::LinearSystem

25
wpimath/src/main/python/semiwrap/NumericalIntegration.yml Normal file
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@@ -0,0 +1,25 @@
extra_includes:
- frc_eigen.h
- wpi/math/linalg/EigenCore.hpp
- pybind11/functional.h
functions:
RK4:
overloads:
F&&, T, wpi::units::second_t:
template_impls:
- [std::function<Eigen::MatrixXd(Eigen::MatrixXd)>, Eigen::MatrixXd]
F&&, T, U, wpi::units::second_t:
template_impls:
- ["std::function<Eigen::MatrixXd(Eigen::MatrixXd, Eigen::MatrixXd)>", Eigen::MatrixXd, Eigen::MatrixXd]
F&&, wpi::units::second_t, T, wpi::units::second_t:
template_impls:
- ["std::function<Eigen::MatrixXd(wpi::units::second_t, Eigen::MatrixXd)>", Eigen::MatrixXd]
RKDP:
overloads:
F&&, T, U, wpi::units::second_t, double:
template_impls:
- ["std::function<Eigen::MatrixXd(Eigen::MatrixXd, Eigen::MatrixXd)>", Eigen::MatrixXd, Eigen::MatrixXd]
F&&, wpi::units::second_t, T, wpi::units::second_t, double:
template_impls:
- ["std::function<Eigen::MatrixXd(wpi::units::second_t, Eigen::MatrixXd)>", Eigen::MatrixXd]

52
wpimath/src/main/python/semiwrap/NumericalJacobian.yml Normal file
View File

@@ -0,0 +1,52 @@
extra_includes:
- frc_eigen.h
- wpi/math/linalg/EigenCore.hpp
- pybind11/functional.h
- pybind11/typing.h
functions:
NumericalJacobian:
overloads:
F&&, const Vectord<Cols>&:
ignore: true
F&&, const Eigen::VectorXd&:
template_impls:
- [std::function<Eigen::VectorXd(Eigen::VectorXd)>]
NumericalJacobianX:
overloads:
F&&, const Vectord<States>&, const Vectord<Inputs>&, Args&&...:
ignore: true
F&&, const Eigen::VectorXd&, const Eigen::VectorXd&, Args&&...:
# template_impls:
# - ["std::function<Eigen::VectorXd(Eigen::VectorXd, Eigen::VectorXd, py::args)>", py::args, Eigen::MatrixXd]
param_override:
args:
ignore: true
no_release_gil: true
cpp_code: |
[](py::typing::Callable<Eigen::VectorXd(Eigen::VectorXd, Eigen::VectorXd, py::args)> fn,
const Eigen::VectorXd& x, const Eigen::VectorXd& u, py::args args) {
return wpi::math::NumericalJacobianX([=](const Eigen::VectorXd &ix, const Eigen::VectorXd &iu) {
py::object r = fn(ix, iu, *args);
return r.cast<Eigen::VectorXd>();
}, x, u);
}
NumericalJacobianU:
overloads:
F&&, const Vectord<States>&, const Vectord<Inputs>&, Args&&...:
ignore: true
F&&, const Eigen::VectorXd&, const Eigen::VectorXd&, Args&&...:
# template_impls:
# - ["std::function<Eigen::VectorXd(Eigen::VectorXd, Eigen::VectorXd, py::args)>", py::args, Eigen::MatrixXd]
param_override:
args:
ignore: true
no_release_gil: true
cpp_code: |-
[](py::typing::Callable<Eigen::VectorXd(Eigen::VectorXd, Eigen::VectorXd, py::args)> fn,
const Eigen::VectorXd& x, const Eigen::VectorXd& u, py::args args) {
return wpi::math::NumericalJacobianU([=](const Eigen::VectorXd &ix, const Eigen::VectorXd &iu) {
py::object r = fn(ix, iu, *args);
return r.cast<Eigen::VectorXd>();
}, x, u);
}

8
wpimath/src/main/python/tools/create_units.py
View File

@@ -51,9 +51,7 @@ for f in sorted(pathlib.Path(sys.argv[1]).glob("*.h")):
ofp.write("\nnamespace pybind11 { namespace detail {\n")
for single, double in names:
ofp.write(
inspect.cleandoc(
f"""
ofp.write(inspect.cleandoc(f"""
template <> struct handle_type_name<units::{single}_t> {{
static constexpr auto name = _("{double}");
@@ -63,9 +61,7 @@ for f in sorted(pathlib.Path(sys.argv[1]).glob("*.h")):
static constexpr auto name = _("{double}");
}};
"""
)
)
"""))
ofp.write("\n\n")
ofp.write("\n}\n}\n\n")

10
wpimath/src/main/python/wpimath/__init__.py
View File

@@ -101,6 +101,8 @@ from ._wpimath import (
ProfiledPIDControllerRadians,
Quaternion,
QuinticHermiteSpline,
RK4,
RKDP,
Rectangle2d,
RectangularRegionConstraint,
Rotation2d,
@@ -184,6 +186,9 @@ from ._wpimath import (
angleModulus,
applyDeadband,
inputModulus,
numericalJacobian,
numericalJacobianU,
numericalJacobianX,
objectToRobotPose,
slewRateLimit,
)
@@ -288,6 +293,8 @@ __all__ = [
"ProfiledPIDControllerRadians",
"Quaternion",
"QuinticHermiteSpline",
"RK4",
"RKDP",
"Rectangle2d",
"RectangularRegionConstraint",
"Rotation2d",
@@ -371,6 +378,9 @@ __all__ = [
"angleModulus",
"applyDeadband",
"inputModulus",
"numericalJacobian",
"numericalJacobianU",
"numericalJacobianX",
"objectToRobotPose",
"slewRateLimit",
]