[copybara] mostrobotpy to allwpilib (#8503)

Resync with `mostrobotpy`

This mostly involves the big "ignore almost everything in the HAL
project" and some fixups for the Addressable LED classes.

Required two small hand fixes to get it building over here with bazel,
and with more compiler warnings on.

I also manually zeroed out the `repo_url` field in the toml files to
avoid unnecessary churn whenever it goes from a release build to a
development build. I already did this with `version` field in there, and
will do a follow up PR that updates the copybara script to do it
automatically.

---------

Co-authored-by: Default email <default@default.com>

wpimath/src/main/python/native-pyproject.toml

@@ -23,7 +23,7 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "wpimath-cpp"
 group_id = "org.wpilib.wpimath"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
+repo_url = ""
 version = "0.0.0"
 
 extract_to = "src/native/wpimath"

wpimath/src/main/python/pyproject.toml

@@ -41,18 +41,6 @@ packages = ["wpimath"]
 [tool.semiwrap]
 update_init = [
     "wpimath",
-    "wpimath.controller wpimath._controls._controls.controller",
-    "wpimath.estimator wpimath._controls._controls.estimator",
-    "wpimath.filter",
-    "wpimath.geometry",
-    "wpimath.kinematics",
-    "wpimath.interpolation",
-    "wpimath.optimization wpimath._controls._controls.optimization",
-    "wpimath.path wpimath._controls._controls.path",
-    "wpimath.spline",
-    "wpimath.system wpimath._controls._controls.system",
-    "wpimath.trajectory wpimath._controls._controls.trajectory",
-    "wpimath.trajectory.constraint wpimath._controls._controls.constraint",
 ]
 
 scan_headers_ignore = [
@@ -98,11 +86,13 @@ scan_headers_ignore = [
     "gch/*",
     "sleipnir/*",
     "type_casters/*",
+    "unsupported/*",
     "wpi/units/*",
+    "wpimath/protobuf/*",
 
     "wpi/math/util/MathShared.hpp",
 
-    "rpy/geometryToString.h",
+    "geometryToString.h",
     "PyTrajectoryConstraint.h",
     "_units_base_type_caster.h",
 ]
@@ -1463,118 +1453,13 @@ includes = ["wpimath/_impl/src"]
 depends = ["wpiutil", "wpimath-casters"]
 
 [tool.semiwrap.extension_modules."wpimath._wpimath".headers]
-# frc
+# wpi/math/util
 ComputerVisionUtil = "wpi/math/util/ComputerVisionUtil.hpp"
 # DARE = "wpi/math/linalg/DARE.hpp"
 # EigenCore = "wpi/math/linalg/EigenCore.hpp"
 MathUtil = "wpi/math/util/MathUtil.hpp"
 # StateSpaceUtil = "wpi/math/util/StateSpaceUtil.hpp"
 
-
-[tool.semiwrap.extension_modules."wpimath.filter._filter"]
-name = "wpimath_filter"
-wraps = ["robotpy-native-wpimath"]
-depends = ["wpimath"]
-yaml_path = "semiwrap/filter"
-
-[tool.semiwrap.extension_modules."wpimath.filter._filter".headers]
-Debouncer = "wpi/math/filter/Debouncer.hpp"
-LinearFilter = "wpi/math/filter/LinearFilter.hpp"
-MedianFilter = "wpi/math/filter/MedianFilter.hpp"
-SlewRateLimiter = "wpi/math/filter/SlewRateLimiter.hpp"
-
-
-[tool.semiwrap.extension_modules."wpimath.geometry._geometry"]
-name = "wpimath_geometry"
-wraps = ["robotpy-native-wpimath"]
-depends = ["wpimath"]
-includes = ["wpimath/geometry/include"]
-yaml_path = "semiwrap/geometry"
-
-[tool.semiwrap.extension_modules."wpimath.geometry._geometry".headers]
-# wpi/math/geometry
-CoordinateAxis = "wpi/math/geometry/CoordinateAxis.hpp"
-CoordinateSystem = "wpi/math/geometry/CoordinateSystem.hpp"
-Ellipse2d = "wpi/math/geometry/Ellipse2d.hpp"
-Pose2d = "wpi/math/geometry/Pose2d.hpp"
-Pose3d = "wpi/math/geometry/Pose3d.hpp"
-Quaternion = "wpi/math/geometry/Quaternion.hpp"
-Rectangle2d = "wpi/math/geometry/Rectangle2d.hpp"
-Rotation2d = "wpi/math/geometry/Rotation2d.hpp"
-Rotation3d = "wpi/math/geometry/Rotation3d.hpp"
-Transform2d = "wpi/math/geometry/Transform2d.hpp"
-Transform3d = "wpi/math/geometry/Transform3d.hpp"
-Translation2d = "wpi/math/geometry/Translation2d.hpp"
-Translation3d = "wpi/math/geometry/Translation3d.hpp"
-Twist2d = "wpi/math/geometry/Twist2d.hpp"
-Twist3d = "wpi/math/geometry/Twist3d.hpp"
-
-[tool.semiwrap.extension_modules."wpimath.interpolation._interpolation"]
-name = "wpimath_interpolation"
-wraps = ["robotpy-native-wpimath"]
-depends = ["wpimath_geometry"]
-yaml_path = "semiwrap/interpolation"
-
-[tool.semiwrap.extension_modules."wpimath.interpolation._interpolation".headers]
-# wpi/math/interpolation
-TimeInterpolatableBuffer = "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
-
-
-[tool.semiwrap.extension_modules."wpimath.kinematics._kinematics"]
-name = "wpimath_kinematics"
-wraps = ["robotpy-native-wpimath"]
-depends = ["wpimath_geometry"]
-yaml_path = "semiwrap/kinematics"
-
-[tool.semiwrap.extension_modules."wpimath.kinematics._kinematics".headers]
-# wpi/math/kinematics
-ChassisSpeeds = "wpi/math/kinematics/ChassisSpeeds.hpp"
-ChassisAccelerations = "wpi/math/kinematics/ChassisAccelerations.hpp"
-DifferentialDriveKinematics = "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
-DifferentialDriveOdometry3d = "wpi/math/kinematics/DifferentialDriveOdometry3d.hpp"
-DifferentialDriveOdometry = "wpi/math/kinematics/DifferentialDriveOdometry.hpp"
-DifferentialDriveWheelPositions = "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
-DifferentialDriveWheelSpeeds = "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
-DifferentialDriveWheelAccelerations = "wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp"
-Kinematics = "wpi/math/kinematics/Kinematics.hpp"
-MecanumDriveKinematics = "wpi/math/kinematics/MecanumDriveKinematics.hpp"
-MecanumDriveOdometry = "wpi/math/kinematics/MecanumDriveOdometry.hpp"
-MecanumDriveOdometry3d = "wpi/math/kinematics/MecanumDriveOdometry3d.hpp"
-MecanumDriveWheelPositions = "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
-MecanumDriveWheelSpeeds = "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
-MecanumDriveWheelAccelerations = "wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp"
-Odometry = "wpi/math/kinematics/Odometry.hpp"
-Odometry3d = "wpi/math/kinematics/Odometry3d.hpp"
-SwerveDriveKinematics = "wpi/math/kinematics/SwerveDriveKinematics.hpp"
-SwerveDriveOdometry = "wpi/math/kinematics/SwerveDriveOdometry.hpp"
-SwerveDriveOdometry3d = "wpi/math/kinematics/SwerveDriveOdometry3d.hpp"
-SwerveModulePosition = "wpi/math/kinematics/SwerveModulePosition.hpp"
-SwerveModuleState = "wpi/math/kinematics/SwerveModuleState.hpp"
-SwerveModuleAcceleration = "wpi/math/kinematics/SwerveModuleAcceleration.hpp"
-
-
-[tool.semiwrap.extension_modules."wpimath.spline._spline"]
-name = "wpimath_spline"
-wraps = ["robotpy-native-wpimath"]
-depends = ["wpimath_geometry"]
-yaml_path = "semiwrap/spline"
-
-[tool.semiwrap.extension_modules."wpimath.spline._spline".headers]
-# wpi/math/spline
-CubicHermiteSpline = "wpi/math/spline/CubicHermiteSpline.hpp"
-QuinticHermiteSpline = "wpi/math/spline/QuinticHermiteSpline.hpp"
-Spline = "wpi/math/spline/Spline.hpp"
-SplineHelper = "wpi/math/spline/SplineHelper.hpp"
-SplineParameterizer = "wpi/math/spline/SplineParameterizer.hpp"
-
-
-[tool.semiwrap.extension_modules."wpimath._controls._controls"]
-name = "wpimath_controls"
-wraps = ["robotpy-native-wpimath"]
-depends = ["wpimath", "wpimath_geometry", "wpimath_kinematics", "wpimath_spline"]
-yaml_path = "semiwrap/controls"
-
-[tool.semiwrap.extension_modules."wpimath._controls._controls".headers]
 # wpi/math/controller
 ArmFeedforward = "wpi/math/controller/ArmFeedforward.hpp"
 BangBangController = "wpi/math/controller/BangBangController.hpp"
@@ -1609,15 +1494,71 @@ SwerveDrivePoseEstimator3d = "wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp"
 # UnscentedKalmanFilter = "wpi/math/estimator/UnscentedKalmanFilter.hpp"
 # UnscentedTransform = "wpi/math/estimator/UnscentedTransform.hpp"
 
+# wpi/math/filter
+Debouncer = "wpi/math/filter/Debouncer.hpp"
+LinearFilter = "wpi/math/filter/LinearFilter.hpp"
+MedianFilter = "wpi/math/filter/MedianFilter.hpp"
+SlewRateLimiter = "wpi/math/filter/SlewRateLimiter.hpp"
+
+# wpi/math/geometry
+CoordinateAxis = "wpi/math/geometry/CoordinateAxis.hpp"
+CoordinateSystem = "wpi/math/geometry/CoordinateSystem.hpp"
+Ellipse2d = "wpi/math/geometry/Ellipse2d.hpp"
+Pose2d = "wpi/math/geometry/Pose2d.hpp"
+Pose3d = "wpi/math/geometry/Pose3d.hpp"
+Quaternion = "wpi/math/geometry/Quaternion.hpp"
+Rectangle2d = "wpi/math/geometry/Rectangle2d.hpp"
+Rotation2d = "wpi/math/geometry/Rotation2d.hpp"
+Rotation3d = "wpi/math/geometry/Rotation3d.hpp"
+Transform2d = "wpi/math/geometry/Transform2d.hpp"
+Transform3d = "wpi/math/geometry/Transform3d.hpp"
+Translation2d = "wpi/math/geometry/Translation2d.hpp"
+Translation3d = "wpi/math/geometry/Translation3d.hpp"
+Twist2d = "wpi/math/geometry/Twist2d.hpp"
+Twist3d = "wpi/math/geometry/Twist3d.hpp"
+
+# wpi/math/interpolation
+TimeInterpolatableBuffer = "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
+
+# wpi/math/kinematics
+ChassisSpeeds = "wpi/math/kinematics/ChassisSpeeds.hpp"
+ChassisAccelerations = "wpi/math/kinematics/ChassisAccelerations.hpp"
+DifferentialDriveKinematics = "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+DifferentialDriveOdometry3d = "wpi/math/kinematics/DifferentialDriveOdometry3d.hpp"
+DifferentialDriveOdometry = "wpi/math/kinematics/DifferentialDriveOdometry.hpp"
+DifferentialDriveWheelPositions = "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
+DifferentialDriveWheelSpeeds = "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
+DifferentialDriveWheelAccelerations = "wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp"
+Kinematics = "wpi/math/kinematics/Kinematics.hpp"
+MecanumDriveKinematics = "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+MecanumDriveOdometry = "wpi/math/kinematics/MecanumDriveOdometry.hpp"
+MecanumDriveOdometry3d = "wpi/math/kinematics/MecanumDriveOdometry3d.hpp"
+MecanumDriveWheelPositions = "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
+MecanumDriveWheelSpeeds = "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
+MecanumDriveWheelAccelerations = "wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp"
+Odometry = "wpi/math/kinematics/Odometry.hpp"
+Odometry3d = "wpi/math/kinematics/Odometry3d.hpp"
+SwerveDriveKinematics = "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+SwerveDriveOdometry = "wpi/math/kinematics/SwerveDriveOdometry.hpp"
+SwerveDriveOdometry3d = "wpi/math/kinematics/SwerveDriveOdometry3d.hpp"
+SwerveModulePosition = "wpi/math/kinematics/SwerveModulePosition.hpp"
+SwerveModuleState = "wpi/math/kinematics/SwerveModuleState.hpp"
+SwerveModuleAcceleration = "wpi/math/kinematics/SwerveModuleAcceleration.hpp"
+
+
 # wpi/math/optimization
 SimulatedAnnealing = "wpi/math/optimization/SimulatedAnnealing.hpp"
 
-# wpi/math/random
-# Normal = "wpi/math/random/Normal.hpp"
-
 # wpi/math/path
 TravelingSalesman = "wpi/math/path/TravelingSalesman.hpp"
 
+# wpi/math/spline
+CubicHermiteSpline = "wpi/math/spline/CubicHermiteSpline.hpp"
+QuinticHermiteSpline = "wpi/math/spline/QuinticHermiteSpline.hpp"
+Spline = "wpi/math/spline/Spline.hpp"
+SplineHelper = "wpi/math/spline/SplineHelper.hpp"
+SplineParameterizer = "wpi/math/spline/SplineParameterizer.hpp"
+
 # wpi/math/system
 # Discretization = "wpi/math/system/Discretization.hpp"
 LinearSystem = "wpi/math/system/LinearSystem.hpp"

wpimath/src/main/python/semiwrap/ArmFeedforward.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 classes:
   wpi::math::ArmFeedforward:
     force_type_casters:

wpimath/src/main/python/semiwrap/BangBangController.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 classes:
   wpi::math::BangBangController:
     ignored_bases:

wpimath/src/main/python/semiwrap/CentripetalAccelerationConstraint.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: constraint
-
 classes:
   wpi::math::CentripetalAccelerationConstraint:
     typealias:

wpimath/src/main/python/semiwrap/ControlAffinePlantInversionFeedforward.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 classes:
   wpi::math::ControlAffinePlantInversionFeedforward:
     template_params:

wpimath/src/main/python/semiwrap/DCMotor.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: plant
-
 extra_includes:
 - wpystruct.h
 

wpimath/src/main/python/semiwrap/DifferentialDriveAccelerationLimiter.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 classes:
   wpi::math::DifferentialDriveAccelerationLimiter:
     methods:

wpimath/src/main/python/semiwrap/DifferentialDriveFeedforward.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 classes:
   wpi::math::DifferentialDriveFeedforward:
     force_type_casters:

wpimath/src/main/python/semiwrap/DifferentialDriveKinematicsConstraint.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: constraint
-
 classes:
   wpi::math::DifferentialDriveKinematicsConstraint:
     typealias:

wpimath/src/main/python/semiwrap/DifferentialDrivePoseEstimator.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: estimator
-
 classes:
   wpi::math::DifferentialDrivePoseEstimator:
     force_no_trampoline: true

wpimath/src/main/python/semiwrap/DifferentialDrivePoseEstimator3d.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: estimator
-
 classes:
   wpi::math::DifferentialDrivePoseEstimator3d:
     force_no_trampoline: true

wpimath/src/main/python/semiwrap/DifferentialDriveVoltageConstraint.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: constraint
-
 classes:
   wpi::math::DifferentialDriveVoltageConstraint:
     typealias:

wpimath/src/main/python/semiwrap/DifferentialDriveWheelVoltages.yml

@@ -1,7 +1,3 @@
-defaults:
-  subpackage: controller
-
-
 classes:
   wpi::math::DifferentialDriveWheelVoltages:
     force_no_default_constructor: true

wpimath/src/main/python/semiwrap/ElevatorFeedforward.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 classes:
   wpi::math::ElevatorFeedforward:
     force_type_casters:

wpimath/src/main/python/semiwrap/Ellipse2d.yml

@@ -1,5 +1,5 @@
 extra_includes:
-- rpy/geometryToString.h
+- geometryToString.h
 - wpystruct.h
 
 classes:

wpimath/src/main/python/semiwrap/EllipticalRegionConstraint.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: constraint
-
 extra_includes:
 - PyTrajectoryConstraint.h
 

wpimath/src/main/python/semiwrap/ExponentialProfile.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: trajectory
-
 classes:
   wpi::math::ExponentialProfile:
     force_type_casters:

wpimath/src/main/python/semiwrap/ExtendedKalmanFilter.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: estimator
-
 classes:
   wpi::math::ExtendedKalmanFilter:
     template_params:

wpimath/src/main/python/semiwrap/ImplicitModelFollower.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 classes:
   wpi::math::ImplicitModelFollower:
     template_params:

wpimath/src/main/python/semiwrap/KalmanFilter.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: estimator
-
 classes:
   wpi::math::KalmanFilter:
     template_params:

wpimath/src/main/python/semiwrap/LTVDifferentialDriveController.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 classes:
   wpi::math::LTVDifferentialDriveController:
     methods:

wpimath/src/main/python/semiwrap/LTVUnicycleController.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 classes:
   wpi::math::LTVUnicycleController:
     methods:

wpimath/src/main/python/semiwrap/LinearPlantInversionFeedforward.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 classes:
   wpi::math::LinearPlantInversionFeedforward:
     template_params:

wpimath/src/main/python/semiwrap/LinearQuadraticRegulator.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 classes:
   wpi::math::LinearQuadraticRegulator:
     template_params:

wpimath/src/main/python/semiwrap/LinearSystem.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: system
-
 classes:
   wpi::math::LinearSystem:
     template_params:

wpimath/src/main/python/semiwrap/LinearSystemId.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: plant
-
 classes:
   wpi::math::LinearSystemId:
     typealias:

wpimath/src/main/python/semiwrap/LinearSystemLoop.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: system
-
 classes:
   wpi::math::LinearSystemLoop:
     template_params:

wpimath/src/main/python/semiwrap/MaxVelocityConstraint.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: constraint
-
 classes:
   wpi::math::MaxVelocityConstraint:
     typealias:

wpimath/src/main/python/semiwrap/MecanumDriveKinematicsConstraint.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: constraint
-
 classes:
   wpi::math::MecanumDriveKinematicsConstraint:
     typealias:

wpimath/src/main/python/semiwrap/MecanumDrivePoseEstimator.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: estimator
-
 classes:
   wpi::math::MecanumDrivePoseEstimator:
     force_no_trampoline: true

wpimath/src/main/python/semiwrap/MecanumDrivePoseEstimator3d.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: estimator
-
 classes:
   wpi::math::MecanumDrivePoseEstimator3d:
     force_no_trampoline: true

wpimath/src/main/python/semiwrap/PIDController.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 classes:
   wpi::math::PIDController:
     ignored_bases:

wpimath/src/main/python/semiwrap/Pose2d.yml

@@ -1,5 +1,5 @@
 extra_includes:
-- rpy/geometryToString.h
+- geometryToString.h
 - wpystruct.h
 
 functions:

wpimath/src/main/python/semiwrap/Pose3d.yml

@@ -1,5 +1,5 @@
 extra_includes:
-- rpy/geometryToString.h
+- geometryToString.h
 - wpystruct.h
 
 functions:

wpimath/src/main/python/semiwrap/PoseEstimator.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: estimator
-
 extra_includes:
 - wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp
 - wpi/math/kinematics/DifferentialDriveWheelPositions.hpp

wpimath/src/main/python/semiwrap/PoseEstimator3d.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: estimator
-
 extra_includes:
 - wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp
 - wpi/math/kinematics/DifferentialDriveWheelPositions.hpp

wpimath/src/main/python/semiwrap/ProfiledPIDController.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 functions:
   IncrementAndGetProfiledPIDControllerInstances:
     ignore: true

wpimath/src/main/python/semiwrap/Quaternion.yml

@@ -1,5 +1,5 @@
 extra_includes:
-- rpy/geometryToString.h
+- geometryToString.h
 - wpystruct.h
 
 functions:

wpimath/src/main/python/semiwrap/Rectangle2d.yml

@@ -1,5 +1,5 @@
 extra_includes:
-- rpy/geometryToString.h
+- geometryToString.h
 - wpystruct.h
 
 classes:

wpimath/src/main/python/semiwrap/RectangularRegionConstraint.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: constraint
-
 extra_includes:
 - PyTrajectoryConstraint.h
 

wpimath/src/main/python/semiwrap/Rotation2d.yml

@@ -1,5 +1,5 @@
 extra_includes:
-- rpy/geometryToString.h
+- geometryToString.h
 - wpystruct.h
 
 functions:

wpimath/src/main/python/semiwrap/Rotation3d.yml

@@ -1,5 +1,5 @@
 extra_includes:
-- rpy/geometryToString.h
+- geometryToString.h
 - wpystruct.h
 
 functions:

wpimath/src/main/python/semiwrap/SimpleMotorFeedforward.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 extra_includes:
 - wpi/units/dimensionless.hpp
 

wpimath/src/main/python/semiwrap/SimulatedAnnealing.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: optimization
-
 extra_includes:
 - gilsafe_object.h
 

wpimath/src/main/python/semiwrap/SwerveDriveKinematicsConstraint.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: constraint
-
 classes:
   wpi::math::SwerveDriveKinematicsConstraint:
     template_params:

wpimath/src/main/python/semiwrap/SwerveDrivePoseEstimator.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: estimator
-
 extra_includes:
 - wpi/math/kinematics/SwerveModuleState.hpp
 

wpimath/src/main/python/semiwrap/SwerveDrivePoseEstimator3d.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: estimator
-
 extra_includes:
 - wpi/math/kinematics/SwerveModuleState.hpp
 

wpimath/src/main/python/semiwrap/Trajectory.yml

@@ -1,8 +1,5 @@
-defaults:
-  subpackage: trajectory
-
 extra_includes:
-- rpy/geometryToString.h
+- geometryToString.h
 
 functions:
   to_json:

wpimath/src/main/python/semiwrap/TrajectoryConfig.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: trajectory
-
 extra_includes:
 - PyTrajectoryConstraint.h
 

wpimath/src/main/python/semiwrap/TrajectoryConstraint.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: constraint
-
 classes:
   wpi::math::TrajectoryConstraint:
     force_type_casters:

wpimath/src/main/python/semiwrap/TrajectoryGenerator.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: trajectory
-
 extra_includes:
 - wpi/math/spline/CubicHermiteSpline.hpp
 - wpi/math/spline/QuinticHermiteSpline.hpp

wpimath/src/main/python/semiwrap/TrajectoryParameterizer.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: trajectory
-
 classes:
   wpi::math::TrajectoryParameterizer:
     force_type_casters:

wpimath/src/main/python/semiwrap/Transform2d.yml

@@ -1,6 +1,6 @@
 extra_includes:
 - wpi/math/geometry/Pose2d.hpp
-- rpy/geometryToString.h
+- geometryToString.h
 - wpystruct.h
 
 classes:

wpimath/src/main/python/semiwrap/Transform3d.yml

@@ -1,5 +1,5 @@
 extra_includes:
-- rpy/geometryToString.h
+- geometryToString.h
 - wpystruct.h
 
 classes:

wpimath/src/main/python/semiwrap/Translation2d.yml

@@ -1,5 +1,5 @@
 extra_includes:
-- rpy/geometryToString.h
+- geometryToString.h
 - wpystruct.h
 - pybind11/eigen.h
 

wpimath/src/main/python/semiwrap/Translation3d.yml

@@ -1,5 +1,5 @@
 extra_includes:
-- rpy/geometryToString.h
+- geometryToString.h
 - wpystruct.h
 - pybind11/eigen.h
 

wpimath/src/main/python/semiwrap/TrapezoidProfile.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: trajectory
-
 classes:
   wpi::math::TrapezoidProfile:
     force_type_casters:

wpimath/src/main/python/semiwrap/TravelingSalesman.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: path
-
 classes:
   wpi::math::TravelingSalesman:
     methods:

wpimath/src/main/python/wpimath/__init__.py

@@ -1,10 +1,186 @@
 from . import _init__wpimath  # noqa: F401
 
-# Needed for stubgen
-from . import geometry
-
 # autogenerated by 'semiwrap create-imports wpimath wpimath._wpimath'
 from ._wpimath import (
+    ArmFeedforward,
+    BangBangController,
+    CentripetalAccelerationConstraint,
+    ChassisAccelerations,
+    ChassisSpeeds,
+    ControlAffinePlantInversionFeedforward_1_1,
+    ControlAffinePlantInversionFeedforward_2_1,
+    ControlAffinePlantInversionFeedforward_2_2,
+    CoordinateAxis,
+    CoordinateSystem,
+    CubicHermiteSpline,
+    DCMotor,
+    Debouncer,
+    DifferentialDriveAccelerationLimiter,
+    DifferentialDriveFeedforward,
+    DifferentialDriveKinematics,
+    DifferentialDriveKinematicsBase,
+    DifferentialDriveKinematicsConstraint,
+    DifferentialDriveOdometry,
+    DifferentialDriveOdometry3d,
+    DifferentialDriveOdometry3dBase,
+    DifferentialDriveOdometryBase,
+    DifferentialDrivePoseEstimator,
+    DifferentialDrivePoseEstimator3d,
+    DifferentialDrivePoseEstimator3dBase,
+    DifferentialDrivePoseEstimatorBase,
+    DifferentialDriveVoltageConstraint,
+    DifferentialDriveWheelAccelerations,
+    DifferentialDriveWheelPositions,
+    DifferentialDriveWheelSpeeds,
+    DifferentialDriveWheelVoltages,
+    ElevatorFeedforward,
+    Ellipse2d,
+    EllipticalRegionConstraint,
+    ExponentialProfileMeterVolts,
+    ExtendedKalmanFilter_1_1_1,
+    ExtendedKalmanFilter_2_1_1,
+    ExtendedKalmanFilter_2_1_2,
+    ExtendedKalmanFilter_2_2_2,
+    ImplicitModelFollower_1_1,
+    ImplicitModelFollower_2_1,
+    ImplicitModelFollower_2_2,
+    KalmanFilter_1_1_1,
+    KalmanFilter_2_1_1,
+    KalmanFilter_2_1_2,
+    KalmanFilter_2_2_2,
+    KalmanFilter_3_2_3,
+    LTVDifferentialDriveController,
+    LTVUnicycleController,
+    LinearFilter,
+    LinearPlantInversionFeedforward_1_1,
+    LinearPlantInversionFeedforward_2_1,
+    LinearPlantInversionFeedforward_2_2,
+    LinearPlantInversionFeedforward_3_2,
+    LinearQuadraticRegulator_1_1,
+    LinearQuadraticRegulator_2_1,
+    LinearQuadraticRegulator_2_2,
+    LinearQuadraticRegulator_3_2,
+    LinearSystemId,
+    LinearSystemLoop_1_1_1,
+    LinearSystemLoop_2_1_1,
+    LinearSystemLoop_2_1_2,
+    LinearSystemLoop_2_2_2,
+    LinearSystemLoop_3_2_3,
+    LinearSystem_1_1_1,
+    LinearSystem_1_1_2,
+    LinearSystem_1_1_3,
+    LinearSystem_2_1_1,
+    LinearSystem_2_1_2,
+    LinearSystem_2_1_3,
+    LinearSystem_2_2_1,
+    LinearSystem_2_2_2,
+    LinearSystem_2_2_3,
+    LinearSystem_3_2_1,
+    LinearSystem_3_2_2,
+    LinearSystem_3_2_3,
+    MaxVelocityConstraint,
+    MecanumDriveKinematics,
+    MecanumDriveKinematicsBase,
+    MecanumDriveKinematicsConstraint,
+    MecanumDriveOdometry,
+    MecanumDriveOdometry3d,
+    MecanumDriveOdometry3dBase,
+    MecanumDriveOdometryBase,
+    MecanumDrivePoseEstimator,
+    MecanumDrivePoseEstimator3d,
+    MecanumDrivePoseEstimator3dBase,
+    MecanumDrivePoseEstimatorBase,
+    MecanumDriveWheelAccelerations,
+    MecanumDriveWheelPositions,
+    MecanumDriveWheelSpeeds,
+    MedianFilter,
+    PIDController,
+    Pose2d,
+    Pose3d,
+    ProfiledPIDController,
+    ProfiledPIDControllerRadians,
+    Quaternion,
+    QuinticHermiteSpline,
+    Rectangle2d,
+    RectangularRegionConstraint,
+    Rotation2d,
+    Rotation3d,
+    SimpleMotorFeedforwardMeters,
+    SimpleMotorFeedforwardRadians,
+    SimulatedAnnealing,
+    SlewRateLimiter,
+    Spline3,
+    Spline5,
+    SplineHelper,
+    SplineParameterizer,
+    SwerveDrive2Kinematics,
+    SwerveDrive2KinematicsBase,
+    SwerveDrive2KinematicsConstraint,
+    SwerveDrive2Odometry,
+    SwerveDrive2Odometry3d,
+    SwerveDrive2Odometry3dBase,
+    SwerveDrive2OdometryBase,
+    SwerveDrive2PoseEstimator,
+    SwerveDrive2PoseEstimator3d,
+    SwerveDrive2PoseEstimator3dBase,
+    SwerveDrive2PoseEstimatorBase,
+    SwerveDrive3Kinematics,
+    SwerveDrive3KinematicsBase,
+    SwerveDrive3KinematicsConstraint,
+    SwerveDrive3Odometry,
+    SwerveDrive3Odometry3d,
+    SwerveDrive3Odometry3dBase,
+    SwerveDrive3OdometryBase,
+    SwerveDrive3PoseEstimator,
+    SwerveDrive3PoseEstimator3d,
+    SwerveDrive3PoseEstimator3dBase,
+    SwerveDrive3PoseEstimatorBase,
+    SwerveDrive4Kinematics,
+    SwerveDrive4KinematicsBase,
+    SwerveDrive4KinematicsConstraint,
+    SwerveDrive4Odometry,
+    SwerveDrive4Odometry3d,
+    SwerveDrive4Odometry3dBase,
+    SwerveDrive4OdometryBase,
+    SwerveDrive4PoseEstimator,
+    SwerveDrive4PoseEstimator3d,
+    SwerveDrive4PoseEstimator3dBase,
+    SwerveDrive4PoseEstimatorBase,
+    SwerveDrive6Kinematics,
+    SwerveDrive6KinematicsBase,
+    SwerveDrive6KinematicsConstraint,
+    SwerveDrive6Odometry,
+    SwerveDrive6Odometry3d,
+    SwerveDrive6Odometry3dBase,
+    SwerveDrive6OdometryBase,
+    SwerveDrive6PoseEstimator,
+    SwerveDrive6PoseEstimator3d,
+    SwerveDrive6PoseEstimator3dBase,
+    SwerveDrive6PoseEstimatorBase,
+    SwerveModuleAcceleration,
+    SwerveModulePosition,
+    SwerveModuleState,
+    TimeInterpolatableFloatBuffer,
+    TimeInterpolatablePose2dBuffer,
+    TimeInterpolatablePose3dBuffer,
+    TimeInterpolatableRotation2dBuffer,
+    TimeInterpolatableRotation3dBuffer,
+    TimeInterpolatableTranslation2dBuffer,
+    TimeInterpolatableTranslation3dBuffer,
+    Trajectory,
+    TrajectoryConfig,
+    TrajectoryConstraint,
+    TrajectoryGenerator,
+    TrajectoryParameterizer,
+    Transform2d,
+    Transform3d,
+    Translation2d,
+    Translation3d,
+    TrapezoidProfile,
+    TrapezoidProfileRadians,
+    TravelingSalesman,
+    Twist2d,
+    Twist3d,
     angleModulus,
     applyDeadband,
     inputModulus,
@@ -13,6 +189,185 @@ from ._wpimath import (
 )
 
 __all__ = [
+    "ArmFeedforward",
+    "BangBangController",
+    "CentripetalAccelerationConstraint",
+    "ChassisAccelerations",
+    "ChassisSpeeds",
+    "ControlAffinePlantInversionFeedforward_1_1",
+    "ControlAffinePlantInversionFeedforward_2_1",
+    "ControlAffinePlantInversionFeedforward_2_2",
+    "CoordinateAxis",
+    "CoordinateSystem",
+    "CubicHermiteSpline",
+    "DCMotor",
+    "Debouncer",
+    "DifferentialDriveAccelerationLimiter",
+    "DifferentialDriveFeedforward",
+    "DifferentialDriveKinematics",
+    "DifferentialDriveKinematicsBase",
+    "DifferentialDriveKinematicsConstraint",
+    "DifferentialDriveOdometry",
+    "DifferentialDriveOdometry3d",
+    "DifferentialDriveOdometry3dBase",
+    "DifferentialDriveOdometryBase",
+    "DifferentialDrivePoseEstimator",
+    "DifferentialDrivePoseEstimator3d",
+    "DifferentialDrivePoseEstimator3dBase",
+    "DifferentialDrivePoseEstimatorBase",
+    "DifferentialDriveVoltageConstraint",
+    "DifferentialDriveWheelAccelerations",
+    "DifferentialDriveWheelPositions",
+    "DifferentialDriveWheelSpeeds",
+    "DifferentialDriveWheelVoltages",
+    "ElevatorFeedforward",
+    "Ellipse2d",
+    "EllipticalRegionConstraint",
+    "ExponentialProfileMeterVolts",
+    "ExtendedKalmanFilter_1_1_1",
+    "ExtendedKalmanFilter_2_1_1",
+    "ExtendedKalmanFilter_2_1_2",
+    "ExtendedKalmanFilter_2_2_2",
+    "ImplicitModelFollower_1_1",
+    "ImplicitModelFollower_2_1",
+    "ImplicitModelFollower_2_2",
+    "KalmanFilter_1_1_1",
+    "KalmanFilter_2_1_1",
+    "KalmanFilter_2_1_2",
+    "KalmanFilter_2_2_2",
+    "KalmanFilter_3_2_3",
+    "LTVDifferentialDriveController",
+    "LTVUnicycleController",
+    "LinearFilter",
+    "LinearPlantInversionFeedforward_1_1",
+    "LinearPlantInversionFeedforward_2_1",
+    "LinearPlantInversionFeedforward_2_2",
+    "LinearPlantInversionFeedforward_3_2",
+    "LinearQuadraticRegulator_1_1",
+    "LinearQuadraticRegulator_2_1",
+    "LinearQuadraticRegulator_2_2",
+    "LinearQuadraticRegulator_3_2",
+    "LinearSystemId",
+    "LinearSystemLoop_1_1_1",
+    "LinearSystemLoop_2_1_1",
+    "LinearSystemLoop_2_1_2",
+    "LinearSystemLoop_2_2_2",
+    "LinearSystemLoop_3_2_3",
+    "LinearSystem_1_1_1",
+    "LinearSystem_1_1_2",
+    "LinearSystem_1_1_3",
+    "LinearSystem_2_1_1",
+    "LinearSystem_2_1_2",
+    "LinearSystem_2_1_3",
+    "LinearSystem_2_2_1",
+    "LinearSystem_2_2_2",
+    "LinearSystem_2_2_3",
+    "LinearSystem_3_2_1",
+    "LinearSystem_3_2_2",
+    "LinearSystem_3_2_3",
+    "MaxVelocityConstraint",
+    "MecanumDriveKinematics",
+    "MecanumDriveKinematicsBase",
+    "MecanumDriveKinematicsConstraint",
+    "MecanumDriveOdometry",
+    "MecanumDriveOdometry3d",
+    "MecanumDriveOdometry3dBase",
+    "MecanumDriveOdometryBase",
+    "MecanumDrivePoseEstimator",
+    "MecanumDrivePoseEstimator3d",
+    "MecanumDrivePoseEstimator3dBase",
+    "MecanumDrivePoseEstimatorBase",
+    "MecanumDriveWheelAccelerations",
+    "MecanumDriveWheelPositions",
+    "MecanumDriveWheelSpeeds",
+    "MedianFilter",
+    "PIDController",
+    "Pose2d",
+    "Pose3d",
+    "ProfiledPIDController",
+    "ProfiledPIDControllerRadians",
+    "Quaternion",
+    "QuinticHermiteSpline",
+    "Rectangle2d",
+    "RectangularRegionConstraint",
+    "Rotation2d",
+    "Rotation3d",
+    "SimpleMotorFeedforwardMeters",
+    "SimpleMotorFeedforwardRadians",
+    "SimulatedAnnealing",
+    "SlewRateLimiter",
+    "Spline3",
+    "Spline5",
+    "SplineHelper",
+    "SplineParameterizer",
+    "SwerveDrive2Kinematics",
+    "SwerveDrive2KinematicsBase",
+    "SwerveDrive2KinematicsConstraint",
+    "SwerveDrive2Odometry",
+    "SwerveDrive2Odometry3d",
+    "SwerveDrive2Odometry3dBase",
+    "SwerveDrive2OdometryBase",
+    "SwerveDrive2PoseEstimator",
+    "SwerveDrive2PoseEstimator3d",
+    "SwerveDrive2PoseEstimator3dBase",
+    "SwerveDrive2PoseEstimatorBase",
+    "SwerveDrive3Kinematics",
+    "SwerveDrive3KinematicsBase",
+    "SwerveDrive3KinematicsConstraint",
+    "SwerveDrive3Odometry",
+    "SwerveDrive3Odometry3d",
+    "SwerveDrive3Odometry3dBase",
+    "SwerveDrive3OdometryBase",
+    "SwerveDrive3PoseEstimator",
+    "SwerveDrive3PoseEstimator3d",
+    "SwerveDrive3PoseEstimator3dBase",
+    "SwerveDrive3PoseEstimatorBase",
+    "SwerveDrive4Kinematics",
+    "SwerveDrive4KinematicsBase",
+    "SwerveDrive4KinematicsConstraint",
+    "SwerveDrive4Odometry",
+    "SwerveDrive4Odometry3d",
+    "SwerveDrive4Odometry3dBase",
+    "SwerveDrive4OdometryBase",
+    "SwerveDrive4PoseEstimator",
+    "SwerveDrive4PoseEstimator3d",
+    "SwerveDrive4PoseEstimator3dBase",
+    "SwerveDrive4PoseEstimatorBase",
+    "SwerveDrive6Kinematics",
+    "SwerveDrive6KinematicsBase",
+    "SwerveDrive6KinematicsConstraint",
+    "SwerveDrive6Odometry",
+    "SwerveDrive6Odometry3d",
+    "SwerveDrive6Odometry3dBase",
+    "SwerveDrive6OdometryBase",
+    "SwerveDrive6PoseEstimator",
+    "SwerveDrive6PoseEstimator3d",
+    "SwerveDrive6PoseEstimator3dBase",
+    "SwerveDrive6PoseEstimatorBase",
+    "SwerveModuleAcceleration",
+    "SwerveModulePosition",
+    "SwerveModuleState",
+    "TimeInterpolatableFloatBuffer",
+    "TimeInterpolatablePose2dBuffer",
+    "TimeInterpolatablePose3dBuffer",
+    "TimeInterpolatableRotation2dBuffer",
+    "TimeInterpolatableRotation3dBuffer",
+    "TimeInterpolatableTranslation2dBuffer",
+    "TimeInterpolatableTranslation3dBuffer",
+    "Trajectory",
+    "TrajectoryConfig",
+    "TrajectoryConstraint",
+    "TrajectoryGenerator",
+    "TrajectoryParameterizer",
+    "Transform2d",
+    "Transform3d",
+    "Translation2d",
+    "Translation3d",
+    "TrapezoidProfile",
+    "TrapezoidProfileRadians",
+    "TravelingSalesman",
+    "Twist2d",
+    "Twist3d",
     "angleModulus",
     "applyDeadband",
     "inputModulus",

wpimath/src/main/python/wpimath/_controls/__init__.py

@@ -1 +0,0 @@
-from . import _init__controls

wpimath/src/main/python/wpimath/_controls/controls.cpp

@@ -1,7 +0,0 @@
-
-#include "semiwrap_init.wpimath._controls._controls.hpp"
-
-SEMIWRAP_PYBIND11_MODULE(m)
-{
-    initWrapper(m);
-}

wpimath/src/main/python/wpimath/_impl/src/PyTrajectoryConstraint.h

@@ -31,7 +31,7 @@ namespace detail {
 template <> struct type_caster<wpi::math::PyTrajectoryConstraint> {
   using value_conv = make_caster<std::shared_ptr<wpi::math::TrajectoryConstraint>>;
 
-  PYBIND11_TYPE_CASTER(wpi::math::PyTrajectoryConstraint, _("wpimath._controls._controls.constraint.TrajectoryConstraint"));
+  PYBIND11_TYPE_CASTER(wpi::math::PyTrajectoryConstraint, _("wpimath._wpimath.TrajectoryConstraint"));
 
   bool load(handle src, bool convert) {
     value_conv conv;