Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Clean up math comments (#4252)

Browse Source
This commit is contained in:
Tyler Veness
2022-05-20 15:16:56 -07:00
committed by GitHub
parent fff4d1f44e
commit 5aa67f56e6
25 changed files with 141 additions and 132 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
wpimath/src/test/native/cpp/system/RungeKuttaTimeVaryingTest.cpp
View File

@@ -10,18 +10,17 @@
namespace {
frc::Vectord<1> RungeKuttaTimeVaryingSolution(double t) {
return frc::Vectord<1>{12.0 * std::exp(t) /
(std::pow(std::exp(t) + 1.0, 2.0))};
return frc::Vectord<1>{12.0 * std::exp(t) / std::pow(std::exp(t) + 1.0, 2.0)};
}
} // namespace
// Tests RK4 with a time varying solution. From
// http://www2.hawaii.edu/~jmcfatri/math407/RungeKuttaTest.html:
// x' = x (2 / (e^t + 1) - 1)
// x' = x (2/(eᵗ + 1) - 1)
//
// The true (analytical) solution is:
//
// x(t) = 12 * e^t / ((e^t + 1)^2)
// x(t) = 12eᵗ/((eᵗ + 1)²)
TEST(RungeKuttaTimeVaryingTest, RungeKuttaTimeVarying) {
frc::Vectord<1> y0 = RungeKuttaTimeVaryingSolution(5.0);