Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-28 02:11:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Add full state support to LinearSystemId functions (#6554)

Browse Source 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Nicholas Armstrong
2024-05-15 09:23:22 -04:00
committed by GitHub
parent 7fbbecb5b7
commit 7fc17811fa
29 changed files with 343 additions and 88 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
View File

@@ -18,7 +18,7 @@ namespace frc::sim {
/**
* Represents a simulated arm mechanism.
*/
class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
public:
/**
* Creates a simulated arm mechanism.
@@ -36,12 +36,13 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
* @param startingAngle The initial position of the arm.
* @param measurementStdDevs The standard deviations of the measurements.
*/
SingleJointedArmSim(const LinearSystem<2, 1, 1>& system,
SingleJointedArmSim(const LinearSystem<2, 1, 2>& system,
const DCMotor& gearbox, double gearing,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, bool simulateGravity,
units::radian_t startingAngle,
const std::array<double, 1>& measurementStdDevs = {0.0});
const std::array<double, 2>& measurementStdDevs = {0.0,
0.0});
/**
* Creates a simulated arm mechanism.
*
@@ -62,7 +63,8 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, bool simulateGravity,
units::radian_t startingAngle,
const std::array<double, 1>& measurementStdDevs = {0.0});
const std::array<double, 2>& measurementStdDevs = {0.0,
0.0});
using LinearSystemSim::SetState;