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[wpimath] Clean up VecBuilder and MatBuilder (#5906)

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This commit is contained in:
Joseph Eng
2023-11-14 12:23:50 -08:00
committed by GitHub
parent e117274a67
commit 79dd795bc0
29 changed files with 369 additions and 380 deletions
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2
apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetection.java
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@@ -72,7 +72,7 @@ public class AprilTagDetection {
* @return Homography matrix
*/
public Matrix<N3, N3> getHomographyMatrix() {
return new MatBuilder<>(Nat.N3(), Nat.N3()).fill(m_homography);
return MatBuilder.fill(Nat.N3(), Nat.N3(), m_homography);
}
/**

67
wpimath/src/main/java/edu/wpi/first/math/MatBuilder.java
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@@ -14,8 +14,47 @@ import org.ejml.simple.SimpleMatrix;
* @param <C> The number of columns of the desired matrix.
*/
public class MatBuilder<R extends Num, C extends Num> {
final Nat<R> m_rows;
final Nat<C> m_cols;
/**
* Fills the matrix with the given data, encoded in row major form. (The matrix is filled row by
* row, left to right with the given data).
*
* @param rows The number of rows of the matrix.
* @param cols The number of columns of the matrix.
* @param data The data to fill the matrix with.
* @param <R> The number of rows of the matrix.
* @param <C> The number of columns of the matrix.
* @return The constructed matrix.
*/
public static final <R extends Num, C extends Num> Matrix<R, C> fill(
Nat<R> rows, Nat<C> cols, double... data) {
if (Objects.requireNonNull(data).length != rows.getNum() * cols.getNum()) {
throw new IllegalArgumentException(
"Invalid matrix data provided. Wanted "
+ rows.getNum()
+ " x "
+ cols.getNum()
+ " matrix, but got "
+ data.length
+ " elements");
}
return new Matrix<>(new SimpleMatrix(rows.getNum(), cols.getNum(), true, data));
}
protected final Nat<R> m_rows;
protected final Nat<C> m_cols;
/**
* Creates a new {@link MatBuilder} with the given dimensions.
*
* @param rows The number of rows of the matrix.
* @param cols The number of columns of the matrix.
* @deprecated Use {@link MatBuilder#fill} instead.
*/
@Deprecated(since = "2024", forRemoval = true)
public MatBuilder(Nat<R> rows, Nat<C> cols) {
this.m_rows = Objects.requireNonNull(rows);
this.m_cols = Objects.requireNonNull(cols);
}
/**
* Fills the matrix with the given data, encoded in row major form. (The matrix is filled row by
@@ -25,28 +64,6 @@ public class MatBuilder<R extends Num, C extends Num> {
* @return The constructed matrix.
*/
public final Matrix<R, C> fill(double... data) {
if (Objects.requireNonNull(data).length != this.m_rows.getNum() * this.m_cols.getNum()) {
throw new IllegalArgumentException(
"Invalid matrix data provided. Wanted "
+ this.m_rows.getNum()
+ " x "
+ this.m_cols.getNum()
+ " matrix, but got "
+ data.length
+ " elements");
} else {
return new Matrix<>(new SimpleMatrix(this.m_rows.getNum(), this.m_cols.getNum(), true, data));
}
}
/**
* Creates a new {@link MatBuilder} with the given dimensions.
*
* @param rows The number of rows of the matrix.
* @param cols The number of columns of the matrix.
*/
public MatBuilder(Nat<R> rows, Nat<C> cols) {
this.m_rows = Objects.requireNonNull(rows);
this.m_cols = Objects.requireNonNull(cols);
return fill(m_rows, m_cols, data);
}
}

3
wpimath/src/main/java/edu/wpi/first/math/Matrix.java
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@@ -654,7 +654,10 @@ public class Matrix<R extends Num, C extends Num> {
* @param <R> The number of rows of the desired matrix as a generic.
* @param <C> The number of columns of the desired matrix as a generic.
* @return A builder to construct the matrix.
* @deprecated Use {@link MatBuilder#fill} instead.
*/
@Deprecated(since = "2024", forRemoval = true)
@SuppressWarnings("removal")
public static <R extends Num, C extends Num> MatBuilder<R, C> mat(Nat<R> rows, Nat<C> cols) {
return new MatBuilder<>(Objects.requireNonNull(rows), Objects.requireNonNull(cols));
}

40
wpimath/src/main/java/edu/wpi/first/math/VecBuilder.java
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@@ -17,26 +17,22 @@ import edu.wpi.first.math.numbers.N9;
import java.util.Objects;
import org.ejml.simple.SimpleMatrix;
/**
* A specialization of {@link MatBuilder} for constructing vectors (Nx1 matrices).
*
* @param <N> The dimension of the vector to be constructed.
*/
public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
public VecBuilder(Nat<N> rows) {
super(rows, Nat.N1());
/** A class for constructing vectors (Nx1 matrices). */
public final class VecBuilder {
private VecBuilder() {
throw new UnsupportedOperationException("this is a utility class!");
}
private Vector<N> fillVec(double... data) {
if (Objects.requireNonNull(data).length != this.m_rows.getNum()) {
private static <N extends Num> Vector<N> fillVec(Nat<N> rows, double... data) {
if (Objects.requireNonNull(data).length != rows.getNum()) {
throw new IllegalArgumentException(
"Invalid vector data provided. Wanted "
+ this.m_rows.getNum()
+ rows.getNum()
+ " vector, but got "
+ data.length
+ " elements");
}
return new Vector<>(new SimpleMatrix(this.m_rows.getNum(), 1, true, data));
return new Vector<>(new SimpleMatrix(data));
}
/**
@@ -46,7 +42,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
* @return 1x1 vector
*/
public static Vector<N1> fill(double n1) {
return new VecBuilder<>(Nat.N1()).fillVec(n1);
return fillVec(Nat.N1(), n1);
}
/**
@@ -57,7 +53,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
* @return 2x1 vector
*/
public static Vector<N2> fill(double n1, double n2) {
return new VecBuilder<>(Nat.N2()).fillVec(n1, n2);
return fillVec(Nat.N2(), n1, n2);
}
/**
@@ -69,7 +65,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
* @return 3x1 vector
*/
public static Vector<N3> fill(double n1, double n2, double n3) {
return new VecBuilder<>(Nat.N3()).fillVec(n1, n2, n3);
return fillVec(Nat.N3(), n1, n2, n3);
}
/**
@@ -82,7 +78,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
* @return 4x1 vector
*/
public static Vector<N4> fill(double n1, double n2, double n3, double n4) {
return new VecBuilder<>(Nat.N4()).fillVec(n1, n2, n3, n4);
return fillVec(Nat.N4(), n1, n2, n3, n4);
}
/**
@@ -96,7 +92,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
* @return 5x1 vector
*/
public static Vector<N5> fill(double n1, double n2, double n3, double n4, double n5) {
return new VecBuilder<>(Nat.N5()).fillVec(n1, n2, n3, n4, n5);
return fillVec(Nat.N5(), n1, n2, n3, n4, n5);
}
/**
@@ -111,7 +107,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
* @return 6x1 vector
*/
public static Vector<N6> fill(double n1, double n2, double n3, double n4, double n5, double n6) {
return new VecBuilder<>(Nat.N6()).fillVec(n1, n2, n3, n4, n5, n6);
return fillVec(Nat.N6(), n1, n2, n3, n4, n5, n6);
}
/**
@@ -128,7 +124,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
*/
public static Vector<N7> fill(
double n1, double n2, double n3, double n4, double n5, double n6, double n7) {
return new VecBuilder<>(Nat.N7()).fillVec(n1, n2, n3, n4, n5, n6, n7);
return fillVec(Nat.N7(), n1, n2, n3, n4, n5, n6, n7);
}
/**
@@ -146,7 +142,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
*/
public static Vector<N8> fill(
double n1, double n2, double n3, double n4, double n5, double n6, double n7, double n8) {
return new VecBuilder<>(Nat.N8()).fillVec(n1, n2, n3, n4, n5, n6, n7, n8);
return fillVec(Nat.N8(), n1, n2, n3, n4, n5, n6, n7, n8);
}
/**
@@ -173,7 +169,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
double n7,
double n8,
double n9) {
return new VecBuilder<>(Nat.N9()).fillVec(n1, n2, n3, n4, n5, n6, n7, n8, n9);
return fillVec(Nat.N9(), n1, n2, n3, n4, n5, n6, n7, n8, n9);
}
/**
@@ -202,6 +198,6 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
double n8,
double n9,
double n10) {
return new VecBuilder<>(Nat.N10()).fillVec(n1, n2, n3, n4, n5, n6, n7, n8, n9, n10);
return fillVec(Nat.N10(), n1, n2, n3, n4, n5, n6, n7, n8, n9, n10);
}
}

11
wpimath/src/main/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiter.java
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@@ -5,7 +5,10 @@
package edu.wpi.first.math.controller;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
@@ -80,10 +83,10 @@ public class DifferentialDriveAccelerationLimiter {
*/
public DifferentialDriveWheelVoltages calculate(
double leftVelocity, double rightVelocity, double leftVoltage, double rightVoltage) {
var u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(leftVoltage, rightVoltage);
Matrix<N2, N1> u = VecBuilder.fill(leftVoltage, rightVoltage);
// Find unconstrained wheel accelerations
var x = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(leftVelocity, rightVelocity);
var x = VecBuilder.fill(leftVelocity, rightVelocity);
var dxdt = m_system.getA().times(x).plus(m_system.getB().times(u));
// Convert from wheel accelerations to linear and angular accelerations
@@ -98,9 +101,7 @@ public class DifferentialDriveAccelerationLimiter {
// [α] [-1/trackwidth 1/trackwidth][dxdt(1)]
//
// accels = M dxdt where M = [0.5, 0.5; -1/trackwidth, 1/trackwidth]
var M =
new MatBuilder<>(Nat.N2(), Nat.N2())
.fill(0.5, 0.5, -1.0 / m_trackwidth, 1.0 / m_trackwidth);
var M = MatBuilder.fill(Nat.N2(), Nat.N2(), 0.5, 0.5, -1.0 / m_trackwidth, 1.0 / m_trackwidth);
var accels = M.times(dxdt);
// Constrain the linear and angular accelerations

6
wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
View File

@@ -4,7 +4,7 @@
package edu.wpi.first.math.controller;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.system.plant.LinearSystemId;
@@ -93,8 +93,8 @@ public class ElevatorFeedforward {
var plant = LinearSystemId.identifyVelocitySystem(this.kv, this.ka);
var feedforward = new LinearPlantInversionFeedforward<>(plant, dtSeconds);
var r = Matrix.mat(Nat.N1(), Nat.N1()).fill(currentVelocity);
var nextR = Matrix.mat(Nat.N1(), Nat.N1()).fill(nextVelocity);
var r = MatBuilder.fill(Nat.N1(), Nat.N1(), currentVelocity);
var nextR = MatBuilder.fill(Nat.N1(), Nat.N1(), nextVelocity);
return kg + ks * Math.signum(currentVelocity) + feedforward.calculate(r, nextR).get(0, 0);
}

126
wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
View File

@@ -11,6 +11,7 @@ import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.StateSpaceUtil;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.Vector;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.numbers.N1;
@@ -88,46 +89,48 @@ public class LTVDifferentialDriveController {
// Control law derivation is in section 8.7 of
// https://file.tavsys.net/control/controls-engineering-in-frc.pdf
var A =
new MatBuilder<>(Nat.N5(), Nat.N5())
.fill(
0.0,
0.0,
0.0,
0.5,
0.5,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
-1.0 / m_trackwidth,
1.0 / m_trackwidth,
0.0,
0.0,
0.0,
plant.getA(0, 0),
plant.getA(0, 1),
0.0,
0.0,
0.0,
plant.getA(1, 0),
plant.getA(1, 1));
MatBuilder.fill(
Nat.N5(),
Nat.N5(),
0.0,
0.0,
0.0,
0.5,
0.5,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
-1.0 / m_trackwidth,
1.0 / m_trackwidth,
0.0,
0.0,
0.0,
plant.getA(0, 0),
plant.getA(0, 1),
0.0,
0.0,
0.0,
plant.getA(1, 0),
plant.getA(1, 1));
var B =
new MatBuilder<>(Nat.N5(), Nat.N2())
.fill(
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
plant.getB(0, 0),
plant.getB(0, 1),
plant.getB(1, 0),
plant.getB(1, 1));
MatBuilder.fill(
Nat.N5(),
Nat.N2(),
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
plant.getB(0, 0),
plant.getB(0, 1),
plant.getB(1, 0),
plant.getB(1, 1));
var Q = StateSpaceUtil.makeCostMatrix(qelems);
var R = StateSpaceUtil.makeCostMatrix(relems);
@@ -136,11 +139,7 @@ public class LTVDifferentialDriveController {
// Ax = -Bu
// x = -A⁻¹Bu
double maxV =
plant
.getA()
.solve(plant.getB().times(new MatBuilder<>(Nat.N2(), Nat.N1()).fill(12.0, 12.0)))
.times(-1.0)
.get(0, 0);
plant.getA().solve(plant.getB().times(VecBuilder.fill(12.0, 12.0))).times(-1.0).get(0, 0);
if (maxV <= 0.0) {
throw new IllegalArgumentException(
@@ -201,13 +200,12 @@ public class LTVDifferentialDriveController {
public void setTolerance(
Pose2d poseTolerance, double leftVelocityTolerance, double rightVelocityTolerance) {
m_tolerance =
new MatBuilder<>(Nat.N5(), Nat.N1())
.fill(
poseTolerance.getX(),
poseTolerance.getY(),
poseTolerance.getRotation().getRadians(),
leftVelocityTolerance,
rightVelocityTolerance);
VecBuilder.fill(
poseTolerance.getX(),
poseTolerance.getY(),
poseTolerance.getRotation().getRadians(),
leftVelocityTolerance,
rightVelocityTolerance);
}
/**
@@ -234,13 +232,12 @@ public class LTVDifferentialDriveController {
// This implements the linear time-varying differential drive controller in
// theorem 9.6.3 of https://tavsys.net/controls-in-frc.
var x =
new MatBuilder<>(Nat.N5(), Nat.N1())
.fill(
currentPose.getX(),
currentPose.getY(),
currentPose.getRotation().getRadians(),
leftVelocity,
rightVelocity);
VecBuilder.fill(
currentPose.getX(),
currentPose.getY(),
currentPose.getRotation().getRadians(),
leftVelocity,
rightVelocity);
var inRobotFrame = Matrix.eye(Nat.N5());
inRobotFrame.set(0, 0, Math.cos(x.get(State.kHeading.value, 0)));
@@ -249,13 +246,12 @@ public class LTVDifferentialDriveController {
inRobotFrame.set(1, 1, Math.cos(x.get(State.kHeading.value, 0)));
var r =
new MatBuilder<>(Nat.N5(), Nat.N1())
.fill(
poseRef.getX(),
poseRef.getY(),
poseRef.getRotation().getRadians(),
leftVelocityRef,
rightVelocityRef);
VecBuilder.fill(
poseRef.getX(),
poseRef.getY(),
poseRef.getRotation().getRadians(),
leftVelocityRef,
rightVelocityRef);
m_error = r.minus(x);
m_error.set(
State.kHeading.value, 0, MathUtil.angleModulus(m_error.get(State.kHeading.value, 0)));

10
wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java
View File

@@ -149,7 +149,7 @@ public class LTVUnicycleController {
// A = [0 0 v] B = [0 0]
// [0 0 0] [0 1]
var A = new Matrix<>(Nat.N3(), Nat.N3());
var B = new MatBuilder<>(Nat.N3(), Nat.N2()).fill(1.0, 0.0, 0.0, 0.0, 0.0, 1.0);
var B = MatBuilder.fill(Nat.N3(), Nat.N2(), 1.0, 0.0, 0.0, 0.0, 0.0, 1.0);
var Q = StateSpaceUtil.makeCostMatrix(qelems);
var R = StateSpaceUtil.makeCostMatrix(relems);
@@ -226,8 +226,12 @@ public class LTVUnicycleController {
var K = m_table.get(linearVelocityRef);
var e =
new MatBuilder<>(Nat.N3(), Nat.N1())
.fill(m_poseError.getX(), m_poseError.getY(), m_poseError.getRotation().getRadians());
MatBuilder.fill(
Nat.N3(),
Nat.N1(),
m_poseError.getX(),
m_poseError.getY(),
m_poseError.getRotation().getRadians());
var u = K.times(e);
return new ChassisSpeeds(

6
wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
View File

@@ -4,7 +4,7 @@
package edu.wpi.first.math.controller;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.system.plant.LinearSystemId;
@@ -62,8 +62,8 @@ public class SimpleMotorFeedforward {
var plant = LinearSystemId.identifyVelocitySystem(this.kv, this.ka);
var feedforward = new LinearPlantInversionFeedforward<>(plant, dtSeconds);
var r = Matrix.mat(Nat.N1(), Nat.N1()).fill(currentVelocity);
var nextR = Matrix.mat(Nat.N1(), Nat.N1()).fill(nextVelocity);
var r = MatBuilder.fill(Nat.N1(), Nat.N1(), currentVelocity);
var nextR = MatBuilder.fill(Nat.N1(), Nat.N1(), nextVelocity);
return ks * Math.signum(currentVelocity) + feedforward.calculate(r, nextR).get(0, 0);
}

5
wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
View File

@@ -8,7 +8,6 @@ import com.fasterxml.jackson.annotation.JsonAutoDetect;
import com.fasterxml.jackson.annotation.JsonCreator;
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.annotation.JsonProperty;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Matrix;
@@ -201,9 +200,7 @@ public class Rotation3d implements Interpolatable<Rotation3d> {
// so a 180 degree rotation is required. Any orthogonal vector can be used
// for it. Q in the QR decomposition is an orthonormal basis, so it
// contains orthogonal unit vectors.
var X =
new MatBuilder<>(Nat.N3(), Nat.N1())
.fill(initial.get(0, 0), initial.get(1, 0), initial.get(2, 0));
var X = VecBuilder.fill(initial.get(0, 0), initial.get(1, 0), initial.get(2, 0));
final var qr = DecompositionFactory_DDRM.qr(3, 1);
qr.decompose(X.getStorage().getMatrix());
final var Q = qr.getQ(null, false);

84
wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
View File

@@ -4,6 +4,7 @@
package edu.wpi.first.math.system.plant;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
@@ -40,20 +41,17 @@ public final class LinearSystemId {
}
return new LinearSystem<>(
Matrix.mat(Nat.N2(), Nat.N2())
.fill(
0,
1,
0,
-Math.pow(gearing, 2)
* motor.KtNMPerAmp
/ (motor.rOhms
* radiusMeters
* radiusMeters
* massKg
* motor.KvRadPerSecPerVolt)),
MatBuilder.fill(
Nat.N2(),
Nat.N2(),
0,
1,
0,
-Math.pow(gearing, 2)
* motor.KtNMPerAmp
/ (motor.rOhms * radiusMeters * radiusMeters * massKg * motor.KvRadPerSecPerVolt)),
VecBuilder.fill(0, gearing * motor.KtNMPerAmp / (motor.rOhms * radiusMeters * massKg)),
Matrix.mat(Nat.N1(), Nat.N2()).fill(1, 0),
MatBuilder.fill(Nat.N1(), Nat.N2(), 1, 0),
new Matrix<>(Nat.N1(), Nat.N1()));
}
@@ -108,15 +106,16 @@ public final class LinearSystemId {
}
return new LinearSystem<>(
Matrix.mat(Nat.N2(), Nat.N2())
.fill(
0,
1,
0,
-gearing
* gearing
* motor.KtNMPerAmp
/ (motor.KvRadPerSecPerVolt * motor.rOhms * JKgMetersSquared)),
MatBuilder.fill(
Nat.N2(),
Nat.N2(),
0,
1,
0,
-gearing
* gearing
* motor.KtNMPerAmp
/ (motor.KvRadPerSecPerVolt * motor.rOhms * JKgMetersSquared)),
VecBuilder.fill(0, gearing * motor.KtNMPerAmp / (motor.rOhms * JKgMetersSquared)),
Matrix.eye(Nat.N2()),
new Matrix<>(Nat.N2(), Nat.N1()));
@@ -149,7 +148,7 @@ public final class LinearSystemId {
}
return new LinearSystem<>(
Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -kV / kA),
MatBuilder.fill(Nat.N2(), Nat.N2(), 0, 1, 0, -kV / kA),
VecBuilder.fill(0, 1 / kA),
Matrix.eye(Nat.N2()),
new Matrix<>(Nat.N2(), Nat.N1()));
@@ -201,10 +200,10 @@ public final class LinearSystemId {
final double C3 = 1 / massKg + rbMeters * rbMeters / JKgMetersSquared;
final double C4 = 1 / massKg - rbMeters * rbMeters / JKgMetersSquared;
var A = Matrix.mat(Nat.N2(), Nat.N2()).fill(C3 * C1, C4 * C1, C4 * C1, C3 * C1);
var B = Matrix.mat(Nat.N2(), Nat.N2()).fill(C3 * C2, C4 * C2, C4 * C2, C3 * C2);
var C = Matrix.mat(Nat.N2(), Nat.N2()).fill(1.0, 0.0, 0.0, 1.0);
var D = Matrix.mat(Nat.N2(), Nat.N2()).fill(0.0, 0.0, 0.0, 0.0);
var A = MatBuilder.fill(Nat.N2(), Nat.N2(), C3 * C1, C4 * C1, C4 * C1, C3 * C1);
var B = MatBuilder.fill(Nat.N2(), Nat.N2(), C3 * C2, C4 * C2, C4 * C2, C3 * C2);
var C = MatBuilder.fill(Nat.N2(), Nat.N2(), 1.0, 0.0, 0.0, 1.0);
var D = MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 0.0, 0.0, 0.0);
return new LinearSystem<>(A, B, C, D);
}
@@ -229,16 +228,17 @@ public final class LinearSystemId {
}
return new LinearSystem<>(
Matrix.mat(Nat.N2(), Nat.N2())
.fill(
0,
1,
0,
-Math.pow(gearing, 2)
* motor.KtNMPerAmp
/ (motor.KvRadPerSecPerVolt * motor.rOhms * JKgSquaredMeters)),
MatBuilder.fill(
Nat.N2(),
Nat.N2(),
0,
1,
0,
-Math.pow(gearing, 2)
* motor.KtNMPerAmp
/ (motor.KvRadPerSecPerVolt * motor.rOhms * JKgSquaredMeters)),
VecBuilder.fill(0, gearing * motor.KtNMPerAmp / (motor.rOhms * JKgSquaredMeters)),
Matrix.mat(Nat.N1(), Nat.N2()).fill(1, 0),
MatBuilder.fill(Nat.N1(), Nat.N2(), 1, 0),
new Matrix<>(Nat.N1(), Nat.N1()));
}
@@ -302,9 +302,9 @@ public final class LinearSystemId {
}
return new LinearSystem<>(
Matrix.mat(Nat.N2(), Nat.N2()).fill(0.0, 1.0, 0.0, -kV / kA),
MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 0.0, -kV / kA),
VecBuilder.fill(0.0, 1.0 / kA),
Matrix.mat(Nat.N1(), Nat.N2()).fill(1.0, 0.0),
MatBuilder.fill(Nat.N1(), Nat.N2(), 1.0, 0.0),
VecBuilder.fill(0.0));
}
@@ -347,10 +347,10 @@ public final class LinearSystemId {
final double B2 = 0.5 * (1.0 / kALinear - 1.0 / kAAngular);
return new LinearSystem<>(
Matrix.mat(Nat.N2(), Nat.N2()).fill(A1, A2, A2, A1),
Matrix.mat(Nat.N2(), Nat.N2()).fill(B1, B2, B2, B1),
Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1),
Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 0, 0, 0));
MatBuilder.fill(Nat.N2(), Nat.N2(), A1, A2, A2, A1),
MatBuilder.fill(Nat.N2(), Nat.N2(), B1, B2, B2, B1),
MatBuilder.fill(Nat.N2(), Nat.N2(), 1, 0, 0, 1),
MatBuilder.fill(Nat.N2(), Nat.N2(), 0, 0, 0, 0));
}
/**

51
wpimath/src/test/java/edu/wpi/first/math/MatrixTest.java
View File

@@ -18,29 +18,28 @@ import org.junit.jupiter.api.Test;
class MatrixTest {
@Test
void testMatrixMultiplication() {
var mat1 = Matrix.mat(Nat.N2(), Nat.N2()).fill(2.0, 1.0, 0.0, 1.0);
var mat2 = Matrix.mat(Nat.N2(), Nat.N2()).fill(3.0, 0.0, 0.0, 2.5);
var mat1 = MatBuilder.fill(Nat.N2(), Nat.N2(), 2.0, 1.0, 0.0, 1.0);
var mat2 = MatBuilder.fill(Nat.N2(), Nat.N2(), 3.0, 0.0, 0.0, 2.5);
Matrix<N2, N2> result = mat1.times(mat2);
assertEquals(result, Matrix.mat(Nat.N2(), Nat.N2()).fill(6.0, 2.5, 0.0, 2.5));
assertEquals(result, MatBuilder.fill(Nat.N2(), Nat.N2(), 6.0, 2.5, 0.0, 2.5));
var mat3 = Matrix.mat(Nat.N2(), Nat.N3()).fill(1.0, 3.0, 0.5, 2.0, 4.3, 1.2);
var mat3 = MatBuilder.fill(Nat.N2(), Nat.N3(), 1.0, 3.0, 0.5, 2.0, 4.3, 1.2);
var mat4 =
Matrix.mat(Nat.N3(), Nat.N4())
.fill(3.0, 1.5, 2.0, 4.5, 2.3, 1.0, 1.6, 3.1, 5.2, 2.1, 2.0, 1.0);
MatBuilder.fill(
Nat.N3(), Nat.N4(), 3.0, 1.5, 2.0, 4.5, 2.3, 1.0, 1.6, 3.1, 5.2, 2.1, 2.0, 1.0);
Matrix<N2, N4> result2 = mat3.times(mat4);
assertTrue(
Matrix.mat(Nat.N2(), Nat.N4())
.fill(12.5, 5.55, 7.8, 14.3, 22.13, 9.82, 13.28, 23.53)
MatBuilder.fill(Nat.N2(), Nat.N4(), 12.5, 5.55, 7.8, 14.3, 22.13, 9.82, 13.28, 23.53)
.isEqual(result2, 1E-9));
}
@Test
void testMatrixVectorMultiplication() {
var mat = Matrix.mat(Nat.N2(), Nat.N2()).fill(1.0, 1.0, 0.0, 1.0);
var mat = MatBuilder.fill(Nat.N2(), Nat.N2(), 1.0, 1.0, 0.0, 1.0);
var vec = VecBuilder.fill(3.0, 2.0);
@@ -54,19 +53,19 @@ class MatrixTest {
Matrix<N1, N3> transpose = vec.transpose();
assertEquals(Matrix.mat(Nat.N1(), Nat.N3()).fill(1.0, 2.0, 3.0), transpose);
assertEquals(MatBuilder.fill(Nat.N1(), Nat.N3(), 1.0, 2.0, 3.0), transpose);
}
@Test
void testSolve() {
var mat1 = Matrix.mat(Nat.N2(), Nat.N2()).fill(1.0, 2.0, 3.0, 4.0);
var mat1 = MatBuilder.fill(Nat.N2(), Nat.N2(), 1.0, 2.0, 3.0, 4.0);
var vec1 = VecBuilder.fill(1.0, 2.0);
var solve1 = mat1.solve(vec1);
assertEquals(VecBuilder.fill(0.0, 0.5), solve1);
var mat2 = Matrix.mat(Nat.N3(), Nat.N2()).fill(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);
var mat2 = MatBuilder.fill(Nat.N3(), Nat.N2(), 1.0, 2.0, 3.0, 4.0, 5.0, 6.0);
var vec2 = VecBuilder.fill(1.0, 2.0, 3.0);
var solve2 = mat2.solve(vec2);
@@ -76,7 +75,7 @@ class MatrixTest {
@Test
void testInverse() {
var mat = Matrix.mat(Nat.N3(), Nat.N3()).fill(1.0, 3.0, 2.0, 5.0, 2.0, 1.5, 0.0, 1.3, 2.5);
var mat = MatBuilder.fill(Nat.N3(), Nat.N3(), 1.0, 3.0, 2.0, 5.0, 2.0, 1.5, 0.0, 1.3, 2.5);
var inv = mat.inv();
@@ -87,33 +86,33 @@ class MatrixTest {
@Test
void testUninvertableMatrix() {
var singularMatrix = Matrix.mat(Nat.N2(), Nat.N2()).fill(2.0, 1.0, 2.0, 1.0);
var singularMatrix = MatBuilder.fill(Nat.N2(), Nat.N2(), 2.0, 1.0, 2.0, 1.0);
assertThrows(SingularMatrixException.class, singularMatrix::inv);
}
@Test
void testMatrixScalarArithmetic() {
var mat = Matrix.mat(Nat.N2(), Nat.N2()).fill(1.0, 2.0, 3.0, 4.0);
var mat = MatBuilder.fill(Nat.N2(), Nat.N2(), 1.0, 2.0, 3.0, 4.0);
assertEquals(Matrix.mat(Nat.N2(), Nat.N2()).fill(3.0, 4.0, 5.0, 6.0), mat.plus(2.0));
assertEquals(MatBuilder.fill(Nat.N2(), Nat.N2(), 3.0, 4.0, 5.0, 6.0), mat.plus(2.0));
assertEquals(Matrix.mat(Nat.N2(), Nat.N2()).fill(0.0, 1.0, 2.0, 3.0), mat.minus(1.0));
assertEquals(MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 2.0, 3.0), mat.minus(1.0));
assertEquals(Matrix.mat(Nat.N2(), Nat.N2()).fill(2.0, 4.0, 6.0, 8.0), mat.times(2.0));
assertEquals(MatBuilder.fill(Nat.N2(), Nat.N2(), 2.0, 4.0, 6.0, 8.0), mat.times(2.0));
assertTrue(Matrix.mat(Nat.N2(), Nat.N2()).fill(0.5, 1.0, 1.5, 2.0).isEqual(mat.div(2.0), 1E-3));
assertTrue(MatBuilder.fill(Nat.N2(), Nat.N2(), 0.5, 1.0, 1.5, 2.0).isEqual(mat.div(2.0), 1E-3));
}
@Test
void testMatrixMatrixArithmetic() {
var mat1 = Matrix.mat(Nat.N2(), Nat.N2()).fill(1.0, 2.0, 3.0, 4.0);
var mat1 = MatBuilder.fill(Nat.N2(), Nat.N2(), 1.0, 2.0, 3.0, 4.0);
var mat2 = Matrix.mat(Nat.N2(), Nat.N2()).fill(5.0, 6.0, 7.0, 8.0);
var mat2 = MatBuilder.fill(Nat.N2(), Nat.N2(), 5.0, 6.0, 7.0, 8.0);
assertEquals(Matrix.mat(Nat.N2(), Nat.N2()).fill(-4.0, -4.0, -4.0, -4.0), mat1.minus(mat2));
assertEquals(MatBuilder.fill(Nat.N2(), Nat.N2(), -4.0, -4.0, -4.0, -4.0), mat1.minus(mat2));
assertEquals(Matrix.mat(Nat.N2(), Nat.N2()).fill(6.0, 8.0, 10.0, 12.0), mat1.plus(mat2));
assertEquals(MatBuilder.fill(Nat.N2(), Nat.N2(), 6.0, 8.0, 10.0, 12.0), mat1.plus(mat2));
}
@Test
@@ -121,14 +120,14 @@ class MatrixTest {
var matrix = Matrix.eye(Nat.N2());
var result = matrix.exp();
assertTrue(result.isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(Math.E, 0, 0, Math.E), 1E-9));
assertTrue(result.isEqual(MatBuilder.fill(Nat.N2(), Nat.N2(), Math.E, 0, 0, Math.E), 1E-9));
matrix = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 2, 3, 4);
matrix = MatBuilder.fill(Nat.N2(), Nat.N2(), 1, 2, 3, 4);
result = matrix.times(0.01).exp();
assertTrue(
result.isEqual(
Matrix.mat(Nat.N2(), Nat.N2()).fill(1.01035625, 0.02050912, 0.03076368, 1.04111993),
MatBuilder.fill(Nat.N2(), Nat.N2(), 1.01035625, 0.02050912, 0.03076368, 1.04111993),
1E-8));
}
}

24
wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java
View File

@@ -61,48 +61,48 @@ class StateSpaceUtilTest extends UtilityClassTest<StateSpaceUtil> {
// First eigenvalue is uncontrollable and unstable.
// Second eigenvalue is controllable and stable.
A = Matrix.mat(Nat.N2(), Nat.N2()).fill(1.2, 0, 0, 0.5);
A = MatBuilder.fill(Nat.N2(), Nat.N2(), 1.2, 0, 0, 0.5);
assertFalse(StateSpaceUtil.isStabilizable(A, B));
// First eigenvalue is uncontrollable and marginally stable.
// Second eigenvalue is controllable and stable.
A = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 0.5);
A = MatBuilder.fill(Nat.N2(), Nat.N2(), 1, 0, 0, 0.5);
assertFalse(StateSpaceUtil.isStabilizable(A, B));
// First eigenvalue is uncontrollable and stable.
// Second eigenvalue is controllable and stable.
A = Matrix.mat(Nat.N2(), Nat.N2()).fill(0.2, 0, 0, 0.5);
A = MatBuilder.fill(Nat.N2(), Nat.N2(), 0.2, 0, 0, 0.5);
assertTrue(StateSpaceUtil.isStabilizable(A, B));
// First eigenvalue is uncontrollable and stable.
// Second eigenvalue is controllable and unstable.
A = Matrix.mat(Nat.N2(), Nat.N2()).fill(0.2, 0, 0, 1.2);
A = MatBuilder.fill(Nat.N2(), Nat.N2(), 0.2, 0, 0, 1.2);
assertTrue(StateSpaceUtil.isStabilizable(A, B));
}
@Test
void testIsDetectable() {
Matrix<N2, N2> A;
Matrix<N1, N2> C = Matrix.mat(Nat.N1(), Nat.N2()).fill(0, 1);
Matrix<N1, N2> C = MatBuilder.fill(Nat.N1(), Nat.N2(), 0, 1);
// First eigenvalue is unobservable and unstable.
// Second eigenvalue is observable and stable.
A = Matrix.mat(Nat.N2(), Nat.N2()).fill(1.2, 0, 0, 0.5);
A = MatBuilder.fill(Nat.N2(), Nat.N2(), 1.2, 0, 0, 0.5);
assertFalse(StateSpaceUtil.isDetectable(A, C));
// First eigenvalue is unobservable and marginally stable.
// Second eigenvalue is observable and stable.
A = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 0.5);
A = MatBuilder.fill(Nat.N2(), Nat.N2(), 1, 0, 0, 0.5);
assertFalse(StateSpaceUtil.isDetectable(A, C));
// First eigenvalue is unobservable and stable.
// Second eigenvalue is observable and stable.
A = Matrix.mat(Nat.N2(), Nat.N2()).fill(0.2, 0, 0, 0.5);
A = MatBuilder.fill(Nat.N2(), Nat.N2(), 0.2, 0, 0, 0.5);
assertTrue(StateSpaceUtil.isDetectable(A, C));
// First eigenvalue is unobservable and stable.
// Second eigenvalue is observable and unstable.
A = Matrix.mat(Nat.N2(), Nat.N2()).fill(0.2, 0, 0, 1.2);
A = MatBuilder.fill(Nat.N2(), Nat.N2(), 0.2, 0, 0, 1.2);
assertTrue(StateSpaceUtil.isDetectable(A, C));
}
@@ -143,14 +143,14 @@ class StateSpaceUtilTest extends UtilityClassTest<StateSpaceUtil> {
var wrappedResult = wrappedMatrix.exp();
assertTrue(
wrappedResult.isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(Math.E, 0, 0, Math.E), 1E-9));
wrappedResult.isEqual(MatBuilder.fill(Nat.N2(), Nat.N2(), Math.E, 0, 0, Math.E), 1E-9));
var matrix = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 2, 3, 4);
var matrix = MatBuilder.fill(Nat.N2(), Nat.N2(), 1, 2, 3, 4);
wrappedResult = matrix.times(0.01).exp();
assertTrue(
wrappedResult.isEqual(
Matrix.mat(Nat.N2(), Nat.N2()).fill(1.01035625, 0.02050912, 0.03076368, 1.04111993),
MatBuilder.fill(Nat.N2(), Nat.N2(), 1.01035625, 0.02050912, 0.03076368, 1.04111993),
1E-8));
}

6
wpimath/src/test/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforwardTest.java
View File

@@ -6,6 +6,7 @@ package edu.wpi.first.math.controller;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
@@ -35,13 +36,12 @@ class ControlAffinePlantInversionFeedforwardTest {
}
protected Matrix<N2, N1> getDynamics(Matrix<N2, N1> x, Matrix<N1, N1> u) {
return Matrix.mat(Nat.N2(), Nat.N2())
.fill(1.000, 0, 0, 1.000)
return MatBuilder.fill(Nat.N2(), Nat.N2(), 1.000, 0, 0, 1.000)
.times(x)
.plus(VecBuilder.fill(0, 1).times(u));
}
protected Matrix<N2, N1> getStateDynamics(Matrix<N2, N1> x) {
return Matrix.mat(Nat.N2(), Nat.N2()).fill(1.000, 0, 0, 1.000).times(x);
return MatBuilder.fill(Nat.N2(), Nat.N2(), 1.000, 0, 0, 1.000).times(x);
}
}

124
wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiterTest.java
View File

@@ -9,8 +9,10 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertThrows;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.plant.LinearSystemId;
import org.junit.jupiter.api.Test;
@@ -26,52 +28,38 @@ class DifferentialDriveAccelerationLimiterTest {
var accelLimiter = new DifferentialDriveAccelerationLimiter(plant, trackwidth, maxA, maxAlpha);
var x = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0.0, 0.0);
var xAccelLimiter = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0.0, 0.0);
Matrix<N2, N1> x = VecBuilder.fill(0.0, 0.0);
Matrix<N2, N1> xAccelLimiter = VecBuilder.fill(0.0, 0.0);
// Ensure voltage exceeds acceleration before limiting
{
final var accels =
plant
.getA()
.times(xAccelLimiter)
.plus(plant.getB().times(new MatBuilder<>(Nat.N2(), Nat.N1()).fill(12.0, 12.0)));
plant.getA().times(xAccelLimiter).plus(plant.getB().times(VecBuilder.fill(12.0, 12.0)));
final double a = (accels.get(0, 0) + accels.get(1, 0)) / 2.0;
assertTrue(Math.abs(a) > maxA);
}
{
final var accels =
plant
.getA()
.times(xAccelLimiter)
.plus(plant.getB().times(new MatBuilder<>(Nat.N2(), Nat.N1()).fill(-12.0, 12.0)));
plant.getA().times(xAccelLimiter).plus(plant.getB().times(VecBuilder.fill(-12.0, 12.0)));
final double alpha = (accels.get(1, 0) - accels.get(0, 0)) / trackwidth;
assertTrue(Math.abs(alpha) > maxAlpha);
}
// Forward
var u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(12.0, 12.0);
var u = VecBuilder.fill(12.0, 12.0);
for (double t = 0.0; t < 3.0; t += dt) {
x = plant.calculateX(x, u, dt);
final var voltages =
accelLimiter.calculate(
xAccelLimiter.get(0, 0), xAccelLimiter.get(1, 0), u.get(0, 0), u.get(1, 0));
xAccelLimiter =
plant.calculateX(
xAccelLimiter,
new MatBuilder<>(Nat.N2(), Nat.N1()).fill(voltages.left, voltages.right),
dt);
plant.calculateX(xAccelLimiter, VecBuilder.fill(voltages.left, voltages.right), dt);
final var accels =
plant
.getA()
.times(xAccelLimiter)
.plus(
plant
.getB()
.times(
new MatBuilder<>(Nat.N2(), Nat.N1())
.fill(voltages.left, voltages.right)));
.plus(plant.getB().times(VecBuilder.fill(voltages.left, voltages.right)));
final double a = (accels.get(0, 0) + accels.get(1, 0)) / 2.0;
final double alpha = (accels.get(1, 0) - accels.get(0, 0)) / trackwidth;
assertTrue(Math.abs(a) <= maxA);
@@ -79,28 +67,20 @@ class DifferentialDriveAccelerationLimiterTest {
}
// Backward
u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(-12.0, -12.0);
u = VecBuilder.fill(-12.0, -12.0);
for (double t = 0.0; t < 3.0; t += dt) {
x = plant.calculateX(x, u, dt);
final var voltages =
accelLimiter.calculate(
xAccelLimiter.get(0, 0), xAccelLimiter.get(1, 0), u.get(0, 0), u.get(1, 0));
xAccelLimiter =
plant.calculateX(
xAccelLimiter,
new MatBuilder<>(Nat.N2(), Nat.N1()).fill(voltages.left, voltages.right),
dt);
plant.calculateX(xAccelLimiter, VecBuilder.fill(voltages.left, voltages.right), dt);
final var accels =
plant
.getA()
.times(xAccelLimiter)
.plus(
plant
.getB()
.times(
new MatBuilder<>(Nat.N2(), Nat.N1())
.fill(voltages.left, voltages.right)));
.plus(plant.getB().times(VecBuilder.fill(voltages.left, voltages.right)));
final double a = (accels.get(0, 0) + accels.get(1, 0)) / 2.0;
final double alpha = (accels.get(1, 0) - accels.get(0, 0)) / trackwidth;
assertTrue(Math.abs(a) <= maxA);
@@ -108,28 +88,20 @@ class DifferentialDriveAccelerationLimiterTest {
}
// Rotate CCW
u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(-12.0, 12.0);
u = VecBuilder.fill(-12.0, 12.0);
for (double t = 0.0; t < 3.0; t += dt) {
x = plant.calculateX(x, u, dt);
final var voltages =
accelLimiter.calculate(
xAccelLimiter.get(0, 0), xAccelLimiter.get(1, 0), u.get(0, 0), u.get(1, 0));
xAccelLimiter =
plant.calculateX(
xAccelLimiter,
new MatBuilder<>(Nat.N2(), Nat.N1()).fill(voltages.left, voltages.right),
dt);
plant.calculateX(xAccelLimiter, VecBuilder.fill(voltages.left, voltages.right), dt);
final var accels =
plant
.getA()
.times(xAccelLimiter)
.plus(
plant
.getB()
.times(
new MatBuilder<>(Nat.N2(), Nat.N1())
.fill(voltages.left, voltages.right)));
.plus(plant.getB().times(VecBuilder.fill(voltages.left, voltages.right)));
final double a = (accels.get(0, 0) + accels.get(1, 0)) / 2.0;
final double alpha = (accels.get(1, 0) - accels.get(0, 0)) / trackwidth;
assertTrue(Math.abs(a) <= maxA);
@@ -148,21 +120,18 @@ class DifferentialDriveAccelerationLimiterTest {
// unconstrained systems should match
var accelLimiter = new DifferentialDriveAccelerationLimiter(plant, trackwidth, 1e3, 1e3);
var x = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0.0, 0.0);
var xAccelLimiter = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0.0, 0.0);
Matrix<N2, N1> x = VecBuilder.fill(0.0, 0.0);
Matrix<N2, N1> xAccelLimiter = VecBuilder.fill(0.0, 0.0);
// Forward
var u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(12.0, 12.0);
var u = VecBuilder.fill(12.0, 12.0);
for (double t = 0.0; t < 3.0; t += dt) {
x = plant.calculateX(x, u, dt);
final var voltages =
accelLimiter.calculate(
xAccelLimiter.get(0, 0), xAccelLimiter.get(1, 0), u.get(0, 0), u.get(1, 0));
xAccelLimiter =
plant.calculateX(
xAccelLimiter,
new MatBuilder<>(Nat.N2(), Nat.N1()).fill(voltages.left, voltages.right),
dt);
plant.calculateX(xAccelLimiter, VecBuilder.fill(voltages.left, voltages.right), dt);
assertEquals(x.get(0, 0), xAccelLimiter.get(0, 0), 1e-5);
assertEquals(x.get(1, 0), xAccelLimiter.get(1, 0), 1e-5);
@@ -171,17 +140,14 @@ class DifferentialDriveAccelerationLimiterTest {
// Backward
x.fill(0.0);
xAccelLimiter.fill(0.0);
u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(-12.0, -12.0);
u = VecBuilder.fill(-12.0, -12.0);
for (double t = 0.0; t < 3.0; t += dt) {
x = plant.calculateX(x, u, dt);
final var voltages =
accelLimiter.calculate(
xAccelLimiter.get(0, 0), xAccelLimiter.get(1, 0), u.get(0, 0), u.get(1, 0));
xAccelLimiter =
plant.calculateX(
xAccelLimiter,
new MatBuilder<>(Nat.N2(), Nat.N1()).fill(voltages.left, voltages.right),
dt);
plant.calculateX(xAccelLimiter, VecBuilder.fill(voltages.left, voltages.right), dt);
assertEquals(x.get(0, 0), xAccelLimiter.get(0, 0), 1e-5);
assertEquals(x.get(1, 0), xAccelLimiter.get(1, 0), 1e-5);
@@ -190,17 +156,14 @@ class DifferentialDriveAccelerationLimiterTest {
// Rotate CCW
x.fill(0.0);
xAccelLimiter.fill(0.0);
u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(-12.0, 12.0);
u = VecBuilder.fill(-12.0, 12.0);
for (double t = 0.0; t < 3.0; t += dt) {
x = plant.calculateX(x, u, dt);
final var voltages =
accelLimiter.calculate(
xAccelLimiter.get(0, 0), xAccelLimiter.get(1, 0), u.get(0, 0), u.get(1, 0));
xAccelLimiter =
plant.calculateX(
xAccelLimiter,
new MatBuilder<>(Nat.N2(), Nat.N1()).fill(voltages.left, voltages.right),
dt);
plant.calculateX(xAccelLimiter, VecBuilder.fill(voltages.left, voltages.right), dt);
assertEquals(x.get(0, 0), xAccelLimiter.get(0, 0), 1e-5);
assertEquals(x.get(1, 0), xAccelLimiter.get(1, 0), 1e-5);
@@ -220,16 +183,13 @@ class DifferentialDriveAccelerationLimiterTest {
var accelLimiter =
new DifferentialDriveAccelerationLimiter(plant, trackwidth, minA, maxA, maxAlpha);
var x = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0.0, 0.0);
var xAccelLimiter = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0.0, 0.0);
Matrix<N2, N1> x = VecBuilder.fill(0.0, 0.0);
Matrix<N2, N1> xAccelLimiter = VecBuilder.fill(0.0, 0.0);
// Ensure voltage exceeds acceleration before limiting
{
final var accels =
plant
.getA()
.times(xAccelLimiter)
.plus(plant.getB().times(new MatBuilder<>(Nat.N2(), Nat.N1()).fill(12.0, 12.0)));
plant.getA().times(xAccelLimiter).plus(plant.getB().times(VecBuilder.fill(12.0, 12.0)));
final double a = (accels.get(0, 0) + accels.get(1, 0)) / 2.0;
assertTrue(Math.abs(a) > maxA);
assertTrue(Math.abs(a) > -minA);
@@ -237,55 +197,39 @@ class DifferentialDriveAccelerationLimiterTest {
// a should always be within [minA, maxA]
// Forward
var u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(12.0, 12.0);
var u = VecBuilder.fill(12.0, 12.0);
for (double t = 0.0; t < 3.0; t += dt) {
x = plant.calculateX(x, u, dt);
final var voltages =
accelLimiter.calculate(
xAccelLimiter.get(0, 0), xAccelLimiter.get(1, 0), u.get(0, 0), u.get(1, 0));
xAccelLimiter =
plant.calculateX(
xAccelLimiter,
new MatBuilder<>(Nat.N2(), Nat.N1()).fill(voltages.left, voltages.right),
dt);
plant.calculateX(xAccelLimiter, VecBuilder.fill(voltages.left, voltages.right), dt);
final var accels =
plant
.getA()
.times(xAccelLimiter)
.plus(
plant
.getB()
.times(
new MatBuilder<>(Nat.N2(), Nat.N1())
.fill(voltages.left, voltages.right)));
.plus(plant.getB().times(VecBuilder.fill(voltages.left, voltages.right)));
final double a = (accels.get(0, 0) + accels.get(1, 0)) / 2.0;
assertTrue(minA <= a && a <= maxA);
}
// Backward
u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(-12.0, -12.0);
u = VecBuilder.fill(-12.0, -12.0);
for (double t = 0.0; t < 3.0; t += dt) {
x = plant.calculateX(x, u, dt);
final var voltages =
accelLimiter.calculate(
xAccelLimiter.get(0, 0), xAccelLimiter.get(1, 0), u.get(0, 0), u.get(1, 0));
xAccelLimiter =
plant.calculateX(
xAccelLimiter,
new MatBuilder<>(Nat.N2(), Nat.N1()).fill(voltages.left, voltages.right),
dt);
plant.calculateX(xAccelLimiter, VecBuilder.fill(voltages.left, voltages.right), dt);
final var accels =
plant
.getA()
.times(xAccelLimiter)
.plus(
plant
.getB()
.times(
new MatBuilder<>(Nat.N2(), Nat.N1())
.fill(voltages.left, voltages.right)));
.plus(plant.getB().times(VecBuilder.fill(voltages.left, voltages.right)));
final double a = (accels.get(0, 0) + accels.get(1, 0)) / 2.0;
assertTrue(minA <= a && a <= maxA);
}

6
wpimath/src/test/java/edu/wpi/first/math/controller/ElevatorFeedforwardTest.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.math.controller;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N1;
@@ -27,8 +27,8 @@ class ElevatorFeedforwardTest {
assertEquals(6.5, m_elevatorFF.calculate(2, 1), 0.002);
assertEquals(-0.5, m_elevatorFF.calculate(-2, 1), 0.002);
var A = Matrix.mat(Nat.N1(), Nat.N1()).fill(-kv / ka);
var B = Matrix.mat(Nat.N1(), Nat.N1()).fill(1.0 / ka);
var A = MatBuilder.fill(Nat.N1(), Nat.N1(), -kv / ka);
var B = MatBuilder.fill(Nat.N1(), Nat.N1(), 1.0 / ka);
final double dt = 0.02;
var plantInversion = new LinearPlantInversionFeedforward<N1, N1, N1>(A, B, dt);

25
wpimath/src/test/java/edu/wpi/first/math/controller/ImplicitModelFollowerTest.java
View File

@@ -7,8 +7,9 @@ package edu.wpi.first.math.controller;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.plant.LinearSystemId;
import org.junit.jupiter.api.Test;
@@ -22,11 +23,11 @@ class ImplicitModelFollowerTest {
var imf = new ImplicitModelFollower<N2, N2, N2>(plant, plant);
var x = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0.0, 0.0);
var xImf = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0.0, 0.0);
Matrix<N2, N1> x = VecBuilder.fill(0.0, 0.0);
Matrix<N2, N1> xImf = VecBuilder.fill(0.0, 0.0);
// Forward
var u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(12.0, 12.0);
var u = VecBuilder.fill(12.0, 12.0);
for (double t = 0.0; t < 3.0; t += dt) {
x = plant.calculateX(x, u, dt);
xImf = plant.calculateX(xImf, imf.calculate(xImf, u), dt);
@@ -36,7 +37,7 @@ class ImplicitModelFollowerTest {
}
// Backward
u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(-12.0, -12.0);
u = VecBuilder.fill(-12.0, -12.0);
for (double t = 0.0; t < 3.0; t += dt) {
x = plant.calculateX(x, u, dt);
xImf = plant.calculateX(xImf, imf.calculate(xImf, u), dt);
@@ -46,7 +47,7 @@ class ImplicitModelFollowerTest {
}
// Rotate CCW
u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(-12.0, 12.0);
u = VecBuilder.fill(-12.0, 12.0);
for (double t = 0.0; t < 3.0; t += dt) {
x = plant.calculateX(x, u, dt);
xImf = plant.calculateX(xImf, imf.calculate(xImf, u), dt);
@@ -67,11 +68,11 @@ class ImplicitModelFollowerTest {
var imf = new ImplicitModelFollower<N2, N2, N2>(plant, plantRef);
var x = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0.0, 0.0);
var xImf = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0.0, 0.0);
Matrix<N2, N1> x = VecBuilder.fill(0.0, 0.0);
Matrix<N2, N1> xImf = VecBuilder.fill(0.0, 0.0);
// Forward
var u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(12.0, 12.0);
var u = VecBuilder.fill(12.0, 12.0);
for (double t = 0.0; t < 3.0; t += dt) {
x = plant.calculateX(x, u, dt);
xImf = plant.calculateX(xImf, imf.calculate(xImf, u), dt);
@@ -83,7 +84,7 @@ class ImplicitModelFollowerTest {
// Backward
x.fill(0.0);
xImf.fill(0.0);
u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(-12.0, -12.0);
u = VecBuilder.fill(-12.0, -12.0);
for (double t = 0.0; t < 3.0; t += dt) {
x = plant.calculateX(x, u, dt);
xImf = plant.calculateX(xImf, imf.calculate(xImf, u), dt);
@@ -95,7 +96,7 @@ class ImplicitModelFollowerTest {
// Rotate CCW
x.fill(0.0);
xImf.fill(0.0);
u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(-12.0, 12.0);
u = VecBuilder.fill(-12.0, 12.0);
for (double t = 0.0; t < 3.0; t += dt) {
x = plant.calculateX(x, u, dt);
xImf = plant.calculateX(xImf, imf.calculate(xImf, u), dt);

13
wpimath/src/test/java/edu/wpi/first/math/controller/LTVDifferentialDriveControllerTest.java
View File

@@ -87,9 +87,14 @@ class LTVDifferentialDriveControllerTest {
final var trajectory = TrajectoryGenerator.generateTrajectory(waypoints, config);
var x =
new MatBuilder<>(Nat.N5(), Nat.N1())
.fill(
robotPose.getX(), robotPose.getY(), robotPose.getRotation().getRadians(), 0.0, 0.0);
MatBuilder.fill(
Nat.N5(),
Nat.N1(),
robotPose.getX(),
robotPose.getY(),
robotPose.getRotation().getRadians(),
0.0,
0.0);
final var totalTime = trajectory.getTotalTimeSeconds();
for (int i = 0; i < (totalTime / kDt); ++i) {
@@ -105,7 +110,7 @@ class LTVDifferentialDriveControllerTest {
NumericalIntegration.rkdp(
LTVDifferentialDriveControllerTest::dynamics,
x,
new MatBuilder<>(Nat.N2(), Nat.N1()).fill(output.left, output.right),
VecBuilder.fill(output.left, output.right),
kDt);
}

3
wpimath/src/test/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforwardTest.java
View File

@@ -6,6 +6,7 @@ package edu.wpi.first.math.controller;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
@@ -16,7 +17,7 @@ import org.junit.jupiter.api.Test;
class LinearPlantInversionFeedforwardTest {
@Test
void testCalculate() {
Matrix<N2, N2> A = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
Matrix<N2, N2> A = MatBuilder.fill(Nat.N2(), Nat.N2(), 1, 0, 0, 1);
Matrix<N2, N1> B = VecBuilder.fill(0, 1);
LinearPlantInversionFeedforward<N2, N1, N1> feedforward =

21
wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
View File

@@ -6,6 +6,7 @@ package edu.wpi.first.math.controller;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.Num;
@@ -111,10 +112,10 @@ class LinearQuadraticRegulatorTest {
@Test
void testMatrixOverloadsWithSingleIntegrator() {
var A = Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 0, 0, 0);
var B = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
var Q = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
var R = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
var A = MatBuilder.fill(Nat.N2(), Nat.N2(), 0, 0, 0, 0);
var B = MatBuilder.fill(Nat.N2(), Nat.N2(), 1, 0, 0, 1);
var Q = MatBuilder.fill(Nat.N2(), Nat.N2(), 1, 0, 0, 1);
var R = MatBuilder.fill(Nat.N2(), Nat.N2(), 1, 0, 0, 1);
// QR overload
var K = new LinearQuadraticRegulator<>(A, B, Q, R, 0.005).getK();
@@ -124,7 +125,7 @@ class LinearQuadraticRegulatorTest {
assertEquals(0.99750312499512261, K.get(1, 1), 1e-10);
// QRN overload
var N = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
var N = MatBuilder.fill(Nat.N2(), Nat.N2(), 1, 0, 0, 1);
var Kimf = new LinearQuadraticRegulator<>(A, B, Q, R, N, 0.005).getK();
assertEquals(1.0, Kimf.get(0, 0), 1e-10);
assertEquals(0.0, Kimf.get(0, 1), 1e-10);
@@ -137,10 +138,10 @@ class LinearQuadraticRegulatorTest {
double Kv = 3.02;
double Ka = 0.642;
var A = Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -Kv / Ka);
var B = Matrix.mat(Nat.N2(), Nat.N1()).fill(0, 1.0 / Ka);
var Q = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 0.2);
var R = Matrix.mat(Nat.N1(), Nat.N1()).fill(0.25);
var A = MatBuilder.fill(Nat.N2(), Nat.N2(), 0, 1, 0, -Kv / Ka);
var B = MatBuilder.fill(Nat.N2(), Nat.N1(), 0, 1.0 / Ka);
var Q = MatBuilder.fill(Nat.N2(), Nat.N2(), 1, 0, 0, 0.2);
var R = MatBuilder.fill(Nat.N1(), Nat.N1(), 0.25);
// QR overload
var K = new LinearQuadraticRegulator<>(A, B, Q, R, 0.005).getK();
@@ -148,7 +149,7 @@ class LinearQuadraticRegulatorTest {
assertEquals(0.51182128351092726, K.get(0, 1), 1e-10);
// QRN overload
var Aref = Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -Kv / (Ka * 5.0));
var Aref = MatBuilder.fill(Nat.N2(), Nat.N2(), 0, 1, 0, -Kv / (Ka * 5.0));
var Kimf = getImplicitModelFollowingK(A, B, Q, R, Aref, 0.005);
assertEquals(0.0, Kimf.get(0, 0), 1e-10);
assertEquals(-6.9190500116751458e-05, Kimf.get(0, 1), 1e-10);

6
wpimath/src/test/java/edu/wpi/first/math/controller/SimpleMotorFeedforwardTest.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.math.controller;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N1;
@@ -20,8 +20,8 @@ class SimpleMotorFeedforwardTest {
double Ka = 0.6;
double dt = 0.02;
var A = Matrix.mat(Nat.N1(), Nat.N1()).fill(-Kv / Ka);
var B = Matrix.mat(Nat.N1(), Nat.N1()).fill(1.0 / Ka);
var A = MatBuilder.fill(Nat.N1(), Nat.N1(), -Kv / Ka);
var B = MatBuilder.fill(Nat.N1(), Nat.N1(), 1.0 / Ka);
var plantInversion = new LinearPlantInversionFeedforward<N1, N1, N1>(A, B, dt);
var simpleMotor = new SimpleMotorFeedforward(Ks, Kv, Ka);

3
wpimath/src/test/java/edu/wpi/first/math/estimator/AngleStatisticsTest.java
View File

@@ -6,6 +6,7 @@ package edu.wpi.first.math.estimator;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
@@ -16,7 +17,7 @@ class AngleStatisticsTest {
void testMean() {
// 3 states, 2 sigmas
var sigmas =
Matrix.mat(Nat.N3(), Nat.N2()).fill(1, 1.2, Math.toRadians(359), Math.toRadians(3), 1, 2);
MatBuilder.fill(Nat.N3(), Nat.N2(), 1, 1.2, Math.toRadians(359), Math.toRadians(3), 1, 2);
// Weights need to produce the mean of the sigmas
var weights = new Matrix<>(Nat.N2(), Nat.N1());
weights.fill(1.0 / sigmas.getNumCols());

21
wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
View File

@@ -7,6 +7,7 @@ package edu.wpi.first.math.estimator;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
@@ -47,16 +48,16 @@ class KalmanFilterTest {
// Y is [x, y, theta]ᵀ and u is [ax, ay, alpha}ᵀ
LinearSystem<N6, N3, N3> m_swerveObserverSystem =
new LinearSystem<>(
Matrix.mat(Nat.N6(), Nat.N6())
.fill( // A
0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0),
Matrix.mat(Nat.N6(), Nat.N3())
.fill( // B
0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1),
Matrix.mat(Nat.N3(), Nat.N6())
.fill( // C
1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0),
MatBuilder.fill(
Nat.N6(), Nat.N6(), // A
0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0),
MatBuilder.fill(
Nat.N6(), Nat.N3(), // B
0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1),
MatBuilder.fill(
Nat.N3(), Nat.N6(), // C
1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0),
new Matrix<>(Nat.N3(), Nat.N3())); // D
@Test

37
wpimath/src/test/java/edu/wpi/first/math/estimator/MerweScaledSigmaPointsTest.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.math.estimator;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import org.junit.jupiter.api.Test;
@@ -17,13 +17,23 @@ class MerweScaledSigmaPointsTest {
var merweScaledSigmaPoints = new MerweScaledSigmaPoints<>(Nat.N2());
var points =
merweScaledSigmaPoints.squareRootSigmaPoints(
VecBuilder.fill(0, 0), Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1));
VecBuilder.fill(0, 0), MatBuilder.fill(Nat.N2(), Nat.N2(), 1, 0, 0, 1));
assertTrue(
points.isEqual(
Matrix.mat(Nat.N2(), Nat.N5())
.fill(
0.0, 0.00173205, 0.0, -0.00173205, 0.0, 0.0, 0.0, 0.00173205, 0.0, -0.00173205),
MatBuilder.fill(
Nat.N2(),
Nat.N5(),
0.0,
0.00173205,
0.0,
-0.00173205,
0.0,
0.0,
0.0,
0.00173205,
0.0,
-0.00173205),
1E-6));
}
@@ -32,12 +42,23 @@ class MerweScaledSigmaPointsTest {
var merweScaledSigmaPoints = new MerweScaledSigmaPoints<>(Nat.N2());
var points =
merweScaledSigmaPoints.squareRootSigmaPoints(
VecBuilder.fill(1, 2), Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, Math.sqrt(10)));
VecBuilder.fill(1, 2), MatBuilder.fill(Nat.N2(), Nat.N2(), 1, 0, 0, Math.sqrt(10)));
assertTrue(
points.isEqual(
Matrix.mat(Nat.N2(), Nat.N5())
.fill(1.0, 1.00173205, 1.0, 0.99826795, 1.0, 2.0, 2.0, 2.00547723, 2.0, 1.99452277),
MatBuilder.fill(
Nat.N2(),
Nat.N5(),
1.0,
1.00173205,
1.0,
0.99826795,
1.0,
2.0,
2.0,
2.00547723,
2.0,
1.99452277),
1E-6));
}
}

3
wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
View File

@@ -8,6 +8,7 @@ import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.StateSpaceUtil;
@@ -264,7 +265,7 @@ class UnscentedKalmanFilterTest {
VecBuilder.fill(0.0, 0.0),
dtSeconds);
var P = Matrix.mat(Nat.N2(), Nat.N2()).fill(2.0, 1.0, 1.0, 2.0);
var P = MatBuilder.fill(Nat.N2(), Nat.N2(), 2.0, 1.0, 1.0, 2.0);
observer.setP(P);
assertTrue(observer.getP().isEqual(P, 1e-9));

3
wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation3dTest.java
View File

@@ -93,8 +93,7 @@ class Rotation3dTest {
assertEquals(expected2, rot2);
// Matrix that isn't orthogonal
final var R3 =
new MatBuilder<>(Nat.N3(), Nat.N3()).fill(1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0);
final var R3 = MatBuilder.fill(Nat.N3(), Nat.N3(), 1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0);
assertThrows(IllegalArgumentException.class, () -> new Rotation3d(R3));
// Matrix that's orthogonal but not special orthogonal

18
wpimath/src/test/java/edu/wpi/first/math/system/DiscretizationTest.java
View File

@@ -19,7 +19,7 @@ class DiscretizationTest {
// analytically,
@Test
void testDiscretizeA() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
final var contA = MatBuilder.fill(Nat.N2(), Nat.N2(), 0, 1, 0, 0);
final var x0 = VecBuilder.fill(1, 1);
final var discA = Discretization.discretizeA(contA, 1.0);
@@ -37,8 +37,8 @@ class DiscretizationTest {
// analytically,
@Test
void testDiscretizeAB() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
final var contB = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0, 1);
final var contA = MatBuilder.fill(Nat.N2(), Nat.N2(), 0, 1, 0, 0);
final var contB = MatBuilder.fill(Nat.N2(), Nat.N1(), 0, 1);
final var x0 = VecBuilder.fill(1, 1);
final var u = VecBuilder.fill(1);
@@ -63,8 +63,8 @@ class DiscretizationTest {
// 0
@Test
void testDiscretizeSlowModelAQ() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
final var contQ = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
final var contA = MatBuilder.fill(Nat.N2(), Nat.N2(), 0, 1, 0, 0);
final var contQ = MatBuilder.fill(Nat.N2(), Nat.N2(), 1, 0, 0, 1);
final double dt = 1.0;
@@ -95,8 +95,8 @@ class DiscretizationTest {
// 0
@Test
void testDiscretizeFastModelAQ() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, -1406.29);
final var contQ = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0.0025, 0, 0, 1);
final var contA = MatBuilder.fill(Nat.N2(), Nat.N2(), 0, 1, 0, -1406.29);
final var contQ = MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0025, 0, 0, 1);
final var dt = 0.005;
@@ -125,8 +125,8 @@ class DiscretizationTest {
// Test that DiscretizeR() works
@Test
void testDiscretizeR() {
var contR = Matrix.mat(Nat.N2(), Nat.N2()).fill(2.0, 0.0, 0.0, 1.0);
var discRTruth = Matrix.mat(Nat.N2(), Nat.N2()).fill(4.0, 0.0, 0.0, 2.0);
var contR = MatBuilder.fill(Nat.N2(), Nat.N2(), 2.0, 0.0, 0.0, 1.0);
var discRTruth = MatBuilder.fill(Nat.N2(), Nat.N2(), 4.0, 0.0, 0.0, 2.0);
var discR = Discretization.discretizeR(contR, 0.5);

17
wpimath/src/test/java/edu/wpi/first/math/system/LinearSystemIDTest.java
View File

@@ -7,6 +7,7 @@ package edu.wpi.first.math.system;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
@@ -23,31 +24,31 @@ class LinearSystemIDTest {
model
.getA()
.isEqual(
Matrix.mat(Nat.N2(), Nat.N2()).fill(-10.14132, 3.06598, 3.06598, -10.14132),
MatBuilder.fill(Nat.N2(), Nat.N2(), -10.14132, 3.06598, 3.06598, -10.14132),
0.001));
assertTrue(
model
.getB()
.isEqual(
Matrix.mat(Nat.N2(), Nat.N2()).fill(4.2590, -1.28762, -1.2876, 4.2590), 0.001));
MatBuilder.fill(Nat.N2(), Nat.N2(), 4.2590, -1.28762, -1.2876, 4.2590), 0.001));
assertTrue(
model.getC().isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(1.0, 0.0, 0.0, 1.0), 0.001));
model.getC().isEqual(MatBuilder.fill(Nat.N2(), Nat.N2(), 1.0, 0.0, 0.0, 1.0), 0.001));
assertTrue(
model.getD().isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(0.0, 0.0, 0.0, 0.0), 0.001));
model.getD().isEqual(MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 0.0, 0.0, 0.0), 0.001));
}
@Test
void testElevatorSystem() {
var model = LinearSystemId.createElevatorSystem(DCMotor.getNEO(2), 5, 0.05, 12);
assertTrue(
model.getA().isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -99.05473), 0.001));
model.getA().isEqual(MatBuilder.fill(Nat.N2(), Nat.N2(), 0, 1, 0, -99.05473), 0.001));
assertTrue(model.getB().isEqual(VecBuilder.fill(0, 20.8), 0.001));
assertTrue(model.getC().isEqual(Matrix.mat(Nat.N1(), Nat.N2()).fill(1, 0), 0.001));
assertTrue(model.getC().isEqual(MatBuilder.fill(Nat.N1(), Nat.N2(), 1, 0), 0.001));
assertTrue(model.getD().isEqual(VecBuilder.fill(0), 0.001));
}
@@ -68,7 +69,7 @@ class LinearSystemIDTest {
void testDCMotorSystem() {
var model = LinearSystemId.createDCMotorSystem(DCMotor.getNEO(2), 0.00032, 1.0);
assertTrue(
model.getA().isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -26.87032), 0.001));
model.getA().isEqual(MatBuilder.fill(Nat.N2(), Nat.N2(), 0, 1, 0, -26.87032), 0.001));
assertTrue(model.getB().isEqual(VecBuilder.fill(0, 1354.166667), 0.001));
@@ -85,7 +86,7 @@ class LinearSystemIDTest {
var ka = 0.5;
var model = LinearSystemId.identifyPositionSystem(kv, ka);
assertEquals(model.getA(), Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -kv / ka));
assertEquals(model.getA(), MatBuilder.fill(Nat.N2(), Nat.N2(), 0, 1, 0, -kv / ka));
assertEquals(model.getB(), VecBuilder.fill(0, 1 / ka));
}

8
wpimath/src/test/java/edu/wpi/first/math/system/RungeKuttaTimeVaryingTest.java
View File

@@ -14,8 +14,8 @@ import org.junit.jupiter.api.Test;
class RungeKuttaTimeVaryingTest {
private static Matrix<N1, N1> rungeKuttaTimeVaryingSolution(double t) {
return new MatBuilder<>(Nat.N1(), Nat.N1())
.fill(12.0 * Math.exp(t) / Math.pow(Math.exp(t) + 1.0, 2.0));
return MatBuilder.fill(
Nat.N1(), Nat.N1(), 12.0 * Math.exp(t) / Math.pow(Math.exp(t) + 1.0, 2.0));
}
// Tests RK4 with a time varying solution. From
@@ -32,8 +32,8 @@ class RungeKuttaTimeVaryingTest {
final var y1 =
RungeKuttaTimeVarying.rungeKuttaTimeVarying(
(Double t, Matrix<N1, N1> x) -> {
return new MatBuilder<>(Nat.N1(), Nat.N1())
.fill(x.get(0, 0) * (2.0 / (Math.exp(t) + 1.0) - 1.0));
return MatBuilder.fill(
Nat.N1(), Nat.N1(), x.get(0, 0) * (2.0 / (Math.exp(t) + 1.0) - 1.0));
},
5.0,
y0,