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Remove unnecessary boxing (#7539)

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* Remove unnecessary boxing
Also remove unnecessary warning suppression

* Use more idiomatic functional interfaces in NumericalIntegration
This commit is contained in:
Joseph Eng
2024-12-12 19:18:40 -08:00
committed by GitHub
parent 39d05ebe7c
commit 4225b732fd
9 changed files with 28 additions and 42 deletions
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35
wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
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@@ -8,8 +8,9 @@ import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Num;
import edu.wpi.first.math.numbers.N1;
import java.util.function.BiFunction;
import java.util.function.DoubleFunction;
import java.util.function.Function;
import java.util.function.DoubleBinaryOperator;
import java.util.function.DoubleUnaryOperator;
import java.util.function.UnaryOperator;
/** Numerical integration utilities. */
public final class NumericalIntegration {
@@ -25,13 +26,12 @@ public final class NumericalIntegration {
* @param dtSeconds The time over which to integrate.
* @return the integration of dx/dt = f(x) for dt.
*/
@SuppressWarnings("overloads")
public static double rk4(DoubleFunction<Double> f, double x, double dtSeconds) {
public static double rk4(DoubleUnaryOperator f, double x, double dtSeconds) {
final var h = dtSeconds;
final var k1 = f.apply(x);
final var k2 = f.apply(x + h * k1 * 0.5);
final var k3 = f.apply(x + h * k2 * 0.5);
final var k4 = f.apply(x + h * k3);
final var k1 = f.applyAsDouble(x);
final var k2 = f.applyAsDouble(x + h * k1 * 0.5);
final var k3 = f.applyAsDouble(x + h * k2 * 0.5);
final var k4 = f.applyAsDouble(x + h * k3);
return x + h / 6.0 * (k1 + 2.0 * k2 + 2.0 * k3 + k4);
}
@@ -45,15 +45,13 @@ public final class NumericalIntegration {
* @param dtSeconds The time over which to integrate.
* @return The result of Runge Kutta integration (4th order).
*/
@SuppressWarnings("overloads")
public static double rk4(
BiFunction<Double, Double, Double> f, double x, Double u, double dtSeconds) {
public static double rk4(DoubleBinaryOperator f, double x, double u, double dtSeconds) {
final var h = dtSeconds;
final var k1 = f.apply(x, u);
final var k2 = f.apply(x + h * k1 * 0.5, u);
final var k3 = f.apply(x + h * k2 * 0.5, u);
final var k4 = f.apply(x + h * k3, u);
final var k1 = f.applyAsDouble(x, u);
final var k2 = f.applyAsDouble(x + h * k1 * 0.5, u);
final var k3 = f.applyAsDouble(x + h * k2 * 0.5, u);
final var k4 = f.applyAsDouble(x + h * k3, u);
return x + h / 6.0 * (k1 + 2.0 * k2 + 2.0 * k3 + k4);
}
@@ -69,7 +67,6 @@ public final class NumericalIntegration {
* @param dtSeconds The time over which to integrate.
* @return the integration of dx/dt = f(x, u) for dt.
*/
@SuppressWarnings("overloads")
public static <States extends Num, Inputs extends Num> Matrix<States, N1> rk4(
BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
Matrix<States, N1> x,
@@ -94,9 +91,8 @@ public final class NumericalIntegration {
* @param dtSeconds The time over which to integrate.
* @return 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
*/
@SuppressWarnings("overloads")
public static <States extends Num> Matrix<States, N1> rk4(
Function<Matrix<States, N1>, Matrix<States, N1>> f, Matrix<States, N1> x, double dtSeconds) {
UnaryOperator<Matrix<States, N1>> f, Matrix<States, N1> x, double dtSeconds) {
final var h = dtSeconds;
Matrix<States, N1> k1 = f.apply(x);
@@ -145,7 +141,6 @@ public final class NumericalIntegration {
* @param dtSeconds The time over which to integrate.
* @return the integration of dx/dt = f(x, u) for dt.
*/
@SuppressWarnings("overloads")
public static <States extends Num, Inputs extends Num> Matrix<States, N1> rkdp(
BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
Matrix<States, N1> x,
@@ -166,7 +161,6 @@ public final class NumericalIntegration {
* @param maxError The maximum acceptable truncation error. Usually a small number like 1e-6.
* @return the integration of dx/dt = f(x, u) for dt.
*/
@SuppressWarnings("overloads")
public static <States extends Num, Inputs extends Num> Matrix<States, N1> rkdp(
BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
Matrix<States, N1> x,
@@ -291,7 +285,6 @@ public final class NumericalIntegration {
* @param maxError The maximum acceptable truncation error. Usually a small number like 1e-6.
* @return the integration of dx/dt = f(x, u) for dt.
*/
@SuppressWarnings("overloads")
public static <Rows extends Num, Cols extends Num> Matrix<Rows, Cols> rkdp(
BiFunction<Double, Matrix<Rows, Cols>, Matrix<Rows, Cols>> f,
double t,