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

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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
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16
wpimath/src/main/native/cpp/system/plant/LinearSystemId.cpp
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@@ -6,7 +6,7 @@
using namespace frc;
LinearSystem<2, 1, 1> LinearSystemId::ElevatorSystem(DCMotor motor,
LinearSystem<2, 1, 2> LinearSystemId::ElevatorSystem(DCMotor motor,
units::kilogram_t mass,
units::meter_t radius,
double gearing) {
@@ -27,13 +27,13 @@ LinearSystem<2, 1, 1> LinearSystemId::ElevatorSystem(DCMotor motor,
.value()}};
Matrixd<2, 1> B{0.0,
(gearing * motor.Kt / (motor.R * radius * mass)).value()};
Matrixd<1, 2> C{1.0, 0.0};
Matrixd<1, 1> D{0.0};
Matrixd<2, 2> C{{1.0, 0.0}, {0.0, 1.0}};
Matrixd<2, 1> D{0.0, 0.0};
return LinearSystem<2, 1, 1>(A, B, C, D);
return LinearSystem<2, 1, 2>(A, B, C, D);
}
LinearSystem<2, 1, 1> LinearSystemId::SingleJointedArmSystem(
LinearSystem<2, 1, 2> LinearSystemId::SingleJointedArmSystem(
DCMotor motor, units::kilogram_square_meter_t J, double gearing) {
if (J <= 0_kg_sq_m) {
throw std::domain_error("J must be greater than zero.");
@@ -47,10 +47,10 @@ LinearSystem<2, 1, 1> LinearSystemId::SingleJointedArmSystem(
{0.0,
(-std::pow(gearing, 2) * motor.Kt / (motor.Kv * motor.R * J)).value()}};
Matrixd<2, 1> B{0.0, (gearing * motor.Kt / (motor.R * J)).value()};
Matrixd<1, 2> C{1.0, 0.0};
Matrixd<1, 1> D{0.0};
Matrixd<2, 2> C{{1.0, 0.0}, {0.0, 1.0}};
Matrixd<2, 1> D{{0.0}, {0.0}};
return LinearSystem<2, 1, 1>(A, B, C, D);
return LinearSystem<2, 1, 2>(A, B, C, D);
}
LinearSystem<2, 2, 2> LinearSystemId::IdentifyDrivetrainSystem(