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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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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
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@@ -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
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@@ -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
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@@ -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
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@@ -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);
}