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

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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
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parent e5b84e2f87
commit 3b283ab9aa
84 changed files with 11747 additions and 174 deletions
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77
wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* 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/system/LinearSystem.h>
#include <frc/system/plant/DCMotor.h>
#include <frc/system/plant/LinearSystemId.h>
#include <gtest/gtest.h>
#include <iostream>
#include "frc/StateSpaceUtil.h"
#include "frc/system/plant/LinearSystemId.h"
#include "units/length.h"
#include "units/mass.h"
TEST(LinearSystemIDTest, IdentifyDrivetrainVelocitySystem) {
auto model = frc::LinearSystemId::DrivetrainVelocitySystem(
frc::DCMotor::NEO(4), 70_kg, 0.05_m, 0.4_m, 6.0_kg_sq_m, 6.0);
ASSERT_TRUE(model.A().isApprox(
frc::MakeMatrix<2, 2>(-10.14132, 3.06598, 3.06598, -10.14132), 0.001));
ASSERT_TRUE(model.B().isApprox(
frc::MakeMatrix<2, 2>(4.2590, -1.28762, -1.2876, 4.2590), 0.001));
ASSERT_TRUE(
model.C().isApprox(frc::MakeMatrix<2, 2>(1.0, 0.0, 0.0, 1.0), 0.001));
ASSERT_TRUE(
model.D().isApprox(frc::MakeMatrix<2, 2>(0.0, 0.0, 0.0, 0.0), 0.001));
}
TEST(LinearSystemIDTest, ElevatorSystem) {
auto model = frc::LinearSystemId::ElevatorSystem(frc::DCMotor::NEO(2), 5_kg,
0.05_m, 12);
ASSERT_TRUE(model.A().isApprox(
frc::MakeMatrix<2, 2>(0.0, 1.0, 0.0, -99.05473), 0.001));
ASSERT_TRUE(model.B().isApprox(frc::MakeMatrix<2, 1>(0.0, 20.8), 0.001));
ASSERT_TRUE(model.C().isApprox(frc::MakeMatrix<1, 2>(1.0, 0.0), 0.001));
ASSERT_TRUE(model.D().isApprox(frc::MakeMatrix<1, 1>(0.0), 0.001));
}
TEST(LinearSystemIDTest, FlywheelSystem) {
auto model = frc::LinearSystemId::FlywheelSystem(frc::DCMotor::NEO(2),
0.00032_kg_sq_m, 1.0);
ASSERT_TRUE(model.A().isApprox(frc::MakeMatrix<1, 1>(-26.87032), 0.001));
ASSERT_TRUE(model.B().isApprox(frc::MakeMatrix<1, 1>(1354.166667), 0.001));
ASSERT_TRUE(model.C().isApprox(frc::MakeMatrix<1, 1>(1.0), 0.001));
ASSERT_TRUE(model.D().isApprox(frc::MakeMatrix<1, 1>(0.0), 0.001));
}
TEST(LinearSystemIDTest, IdentifyPositionSystem) {
// By controls engineering in frc,
// x-dot = [0 1 | 0 -kv/ka] x = [0 | 1/ka] u
double kv = 1.0;
double ka = 0.5;
auto model = frc::LinearSystemId::IdentifyPositionSystem(kv, ka);
ASSERT_TRUE(model.A().isApprox(frc::MakeMatrix<2, 2>(0.0, 1.0, 0.0, -kv / ka),
0.001));
ASSERT_TRUE(model.B().isApprox(frc::MakeMatrix<2, 1>(0.0, 1.0 / ka), 0.001));
}
TEST(LinearSystemIDTest, IdentifyVelocitySystem) {
// By controls engineering in frc,
// V = kv * velocity + ka * acceleration
// x-dot = -kv/ka * v + 1/ka \cdot V
double kv = 1.0;
double ka = 0.5;
auto model = frc::LinearSystemId::IdentifyVelocitySystem(kv, ka);
std::cout << model.A() << std::endl << model.B() << std::endl;
ASSERT_TRUE(model.A().isApprox(frc::MakeMatrix<1, 1>(-kv / ka), 0.001));
ASSERT_TRUE(model.B().isApprox(frc::MakeMatrix<1, 1>(1.0 / ka), 0.001));
}