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[wpimath] Add typedefs for LQR and Kalman filters (#8340)

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These are industry-standard initialisms. The original class names were
left as is so they're more googleable, but I could be convinced
otherwise.
This commit is contained in:
Tyler Veness
2025-11-09 10:34:04 -08:00
committed by GitHub
parent 892666fbbe
commit 603a59fbfe
5 changed files with 15 additions and 0 deletions
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3
wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp
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@@ -311,6 +311,9 @@ class LinearQuadraticRegulator {
Matrixd<Inputs, States> m_K;
};
template <int States, int Inputs>
using LQR = LinearQuadraticRegulator<States, Inputs>;
extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
LinearQuadraticRegulator<1, 1>;
extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)

3
wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp
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@@ -428,4 +428,7 @@ class ExtendedKalmanFilter {
StateMatrix m_initP;
};
template <int States, int Inputs, int Outputs>
using EKF = ExtendedKalmanFilter<States, Inputs, Outputs>;
} // namespace wpi::math

3
wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp
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@@ -262,6 +262,9 @@ class KalmanFilter {
StateMatrix m_initP;
};
template <int States, int Inputs, int Outputs>
using KF = KalmanFilter<States, Inputs, Outputs>;
extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
KalmanFilter<1, 1, 1>;
extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)

3
wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp
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@@ -237,6 +237,9 @@ class SteadyStateKalmanFilter {
StateVector m_xHat;
};
template <int States, int Inputs, int Outputs>
using SteadyStateKF = SteadyStateKalmanFilter<States, Inputs, Outputs>;
extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
SteadyStateKalmanFilter<1, 1, 1>;
extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)

3
wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp
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@@ -496,4 +496,7 @@ class UnscentedKalmanFilter {
SigmaPoints m_pts;
};
template <int States, int Inputs, int Outputs, SigmaPoints<States> SigmaPoints>
using UKF = UnscentedKalmanFilter<States, Inputs, Outputs, SigmaPoints>;
} // namespace wpi::math