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[wpimath] Remove LinearSystem from LinearSystemLoop (#2968)

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The system wasn't being used internally, and as LinearSystem is stateless, it doesn't need to be held by LinearSystemLoop.
This commit is contained in:
Matt
2020-12-28 10:35:51 -08:00
committed by GitHub
parent aa89744c95
commit 254931b9a8
4 changed files with 43 additions and 73 deletions
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31
wpimath/src/main/java/edu/wpi/first/wpilibj/system/LinearSystemLoop.java
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@@ -18,7 +18,7 @@ import edu.wpi.first.wpiutil.math.Num;
import edu.wpi.first.wpiutil.math.numbers.N1;
/**
* Combines a plant, controller, and observer for controlling a mechanism with
* Combines a controller, feedforward, and observer for controlling a mechanism with
* full state feedback.
*
* <p>For everything in this file, "inputs" and "outputs" are defined from the
@@ -35,7 +35,6 @@ import edu.wpi.first.wpiutil.math.numbers.N1;
public class LinearSystemLoop<States extends Num, Inputs extends Num,
Outputs extends Num> {
private final LinearSystem<States, Inputs, Outputs> m_plant;
private final LinearQuadraticRegulator<States, Inputs, Outputs> m_controller;
private final LinearPlantInversionFeedforward<States, Inputs, Outputs> m_feedforward;
private final KalmanFilter<States, Inputs, Outputs> m_observer;
@@ -59,7 +58,7 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num,
KalmanFilter<States, Inputs, Outputs> observer,
double maxVoltageVolts,
double dtSeconds) {
this(plant, controller,
this(controller,
new LinearPlantInversionFeedforward<>(plant, dtSeconds), observer,
u -> StateSpaceUtil.normalizeInputVector(u, maxVoltageVolts));
}
@@ -80,49 +79,44 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num,
KalmanFilter<States, Inputs, Outputs> observer,
Function<Matrix<Inputs, N1>, Matrix<Inputs, N1>> clampFunction,
double dtSeconds) {
this(plant, controller, new LinearPlantInversionFeedforward<>(plant, dtSeconds),
this(controller, new LinearPlantInversionFeedforward<>(plant, dtSeconds),
observer, clampFunction);
}
/**
* Constructs a state-space loop with the given plant, controller, and
* Constructs a state-space loop with the given controller, feedforward and
* observer. By default, the initial reference is all zeros. Users should
* call reset with the initial system state before enabling the loop.
*
* @param plant State-space plant.
* @param controller State-space controller.
* @param feedforward Plant inversion feedforward.
* @param observer State-space observer.
* @param maxVoltageVolts The maximum voltage that can be applied. Assumes that the
* inputs are voltages.
*/
public LinearSystemLoop(LinearSystem<States, Inputs, Outputs> plant,
LinearQuadraticRegulator<States, Inputs, Outputs> controller,
public LinearSystemLoop(LinearQuadraticRegulator<States, Inputs, Outputs> controller,
LinearPlantInversionFeedforward<States, Inputs, Outputs> feedforward,
KalmanFilter<States, Inputs, Outputs> observer,
double maxVoltageVolts
) {
this(plant, controller, feedforward,
this(controller, feedforward,
observer, u -> StateSpaceUtil.normalizeInputVector(u, maxVoltageVolts));
}
/**
* Constructs a state-space loop with the given plant, controller, and
* Constructs a state-space loop with the given controller, feedforward, and
* observer. By default, the initial reference is all zeros. Users should
* call reset with the initial system state before enabling the loop.
*
* @param plant State-space plant.
* @param controller State-space controller.
* @param feedforward Plant inversion feedforward.
* @param observer State-space observer.
* @param clampFunction The function used to clamp the input U.
*/
public LinearSystemLoop(LinearSystem<States, Inputs, Outputs> plant,
LinearQuadraticRegulator<States, Inputs, Outputs> controller,
public LinearSystemLoop(LinearQuadraticRegulator<States, Inputs, Outputs> controller,
LinearPlantInversionFeedforward<States, Inputs, Outputs> feedforward,
KalmanFilter<States, Inputs, Outputs> observer,
Function<Matrix<Inputs, N1>, Matrix<Inputs, N1>> clampFunction) {
this.m_plant = plant;
this.m_controller = controller;
this.m_feedforward = feedforward;
this.m_observer = observer;
@@ -232,15 +226,6 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num,
return getU().get(row, 0);
}
/**
* Return the plant used internally.
*
* @return the plant used internally.
*/
public LinearSystem<States, Inputs, Outputs> getPlant() {
return m_plant;
}
/**
* Return the controller used internally.
*