From 603a59fbfed643cbb543e82a8bc0f1c6fd669827 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sun, 9 Nov 2025 10:34:04 -0800
Subject: [PATCH] [wpimath] Add typedefs for LQR and Kalman filters (#8340)

These are industry-standard initialisms. The original class names were
left as is so they're more googleable, but I could be convinced
otherwise.
---
 .../include/wpi/math/controller/LinearQuadraticRegulator.hpp   | 3 +++
 .../native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp | 3 +++
 .../main/native/include/wpi/math/estimator/KalmanFilter.hpp    | 3 +++
 .../include/wpi/math/estimator/SteadyStateKalmanFilter.hpp     | 3 +++
 .../include/wpi/math/estimator/UnscentedKalmanFilter.hpp       | 3 +++
 5 files changed, 15 insertions(+)

diff --git a/wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp b/wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp
index 1bb1a6185d..2f53b06cda 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp
@@ -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)
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp b/wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp
index 103da61dd2..15a69198e1 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp
@@ -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
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp b/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp
index 67178aa589..94a1dbf70d 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp
@@ -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)
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp b/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp
index 61b7d5cabe..d692ac8dda 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp
@@ -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)
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp b/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp
index b6e42d9bb6..7a7ce432ab 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp
@@ -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