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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2025-05-29 21:41:50 -07:00
parent 25eacfa226 ca05ffa1b9
commit 6c16e846fa
347 changed files with 18562 additions and 11557 deletions
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17
wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp
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@@ -2,8 +2,6 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <cmath>
#include <gtest/gtest.h>
#include "frc/EigenCore.h"
@@ -22,10 +20,7 @@ Vectord<2> StateDynamics(const Vectord<2>& x) {
}
TEST(ControlAffinePlantInversionFeedforwardTest, Calculate) {
std::function<Vectord<2>(const Vectord<2>&, const Vectord<1>&)>
modelDynamics = [](auto& x, auto& u) { return Dynamics(x, u); };
frc::ControlAffinePlantInversionFeedforward<2, 1> feedforward{modelDynamics,
frc::ControlAffinePlantInversionFeedforward<2, 1> feedforward{&Dynamics,
20_ms};
Vectord<2> r{2, 2};
@@ -35,14 +30,8 @@ TEST(ControlAffinePlantInversionFeedforwardTest, Calculate) {
}
TEST(ControlAffinePlantInversionFeedforwardTest, CalculateState) {
std::function<Vectord<2>(const Vectord<2>&)> modelDynamics = [](auto& x) {
return StateDynamics(x);
};
Matrixd<2, 1> B{0, 1};
frc::ControlAffinePlantInversionFeedforward<2, 1> feedforward{modelDynamics,
B, 20_ms};
frc::ControlAffinePlantInversionFeedforward<2, 1> feedforward{
&StateDynamics, Matrixd<2, 1>{{0.0}, {1.0}}, 20_ms};
Vectord<2> r{2, 2};
Vectord<2> nextR{3, 3};