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[wpimath] Clean up NumericalIntegration and add Discretization tests (#3489)

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* Rename Butcher tableau sections in NumericalIntegration such that
  top-left is c, top-right is A, and bottom-right is b
* Move edu.wpi.first.math.Discretization to
  edu.wpi.first.math.system.Discretization
* Sort Java Discretization to match C++ function order
* Add tests for Java Discretization
  * Required adding Runge-Kutta time-varying impl to tests
* Move C++ Runge-Kutta time-varying impl to tests only
  * Users don't need it
This commit is contained in:
Tyler Veness
2021-07-25 07:42:59 -07:00
committed by GitHub
parent bfc209b120
commit 50af74c38f
20 changed files with 641 additions and 310 deletions
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22
wpimath/src/main/java/edu/wpi/first/math/Matrix.java
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@@ -491,9 +491,27 @@ public class Matrix<R extends Num, C extends Num> {
return new Matrix<>(
this.m_storage.extractMatrix(
startingRow,
Objects.requireNonNull(height).getNum() + startingRow,
startingRow + Objects.requireNonNull(height).getNum(),
startingCol,
Objects.requireNonNull(width).getNum() + startingCol));
startingCol + Objects.requireNonNull(width).getNum()));
}
/**
* Extracts a matrix of a given size and start position with new underlying storage.
*
* @param <R2> Number of rows to extract.
* @param <C2> Number of columns to extract.
* @param height The number of rows of the extracted matrix.
* @param width The number of columns of the extracted matrix.
* @param startingRow The starting row of the extracted matrix.
* @param startingCol The starting column of the extracted matrix.
* @return The extracted matrix.
*/
public final <R2 extends Num, C2 extends Num> Matrix<R2, C2> block(
int height, int width, int startingRow, int startingCol) {
return new Matrix<R2, C2>(
this.m_storage.extractMatrix(
startingRow, startingRow + height, startingCol, startingCol + width));
}
/**