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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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2
wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
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@@ -4,10 +4,10 @@
package edu.wpi.first.math.controller;
import edu.wpi.first.math.Discretization;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Num;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.system.Discretization;
import edu.wpi.first.math.system.LinearSystem;
import org.ejml.simple.SimpleMatrix;

2
wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
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@@ -4,7 +4,6 @@
package edu.wpi.first.math.controller;
import edu.wpi.first.math.Discretization;
import edu.wpi.first.math.Drake;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
@@ -12,6 +11,7 @@ import edu.wpi.first.math.Num;
import edu.wpi.first.math.StateSpaceUtil;
import edu.wpi.first.math.Vector;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.system.Discretization;
import edu.wpi.first.math.system.LinearSystem;
import org.ejml.simple.SimpleMatrix;