Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Add core State-space classes (#2614)

Browse Source 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
This commit is contained in:
Matt
2020-08-14 23:40:33 -07:00
committed by GitHub
parent e5b84e2f87
commit 3b283ab9aa
84 changed files with 11747 additions and 174 deletions
Download Patch File Download Diff File Expand all files Collapse all files

29
wpimath/src/main/native/cpp/StateSpaceUtil.cpp Normal file
View File

@@ -0,0 +1,29 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "frc/StateSpaceUtil.h"
namespace frc {
template <>
bool IsStabilizable<1, 1>(const Eigen::Matrix<double, 1, 1>& A,
const Eigen::Matrix<double, 1, 1>& B) {
return detail::IsStabilizableImpl<1, 1>(A, B);
}
template <>
bool IsStabilizable<2, 1>(const Eigen::Matrix<double, 2, 2>& A,
const Eigen::Matrix<double, 2, 1>& B) {
return detail::IsStabilizableImpl<2, 1>(A, B);
}
Eigen::Matrix<double, 3, 1> PoseToVector(const Pose2d& pose) {
return frc::MakeMatrix<3, 1>(pose.X().to<double>(), pose.Y().to<double>(),
pose.Rotation().Radians().to<double>());
}
} // namespace frc