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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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wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
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@@ -44,7 +44,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
* @param gearing Gear ratio from motor to carriage.
* @throws std::domain_error if mass <= 0, radius <= 0, or gearing <= 0.
*/
static LinearSystem<2, 1, 1> ElevatorSystem(DCMotor motor,
static LinearSystem<2, 1, 2> ElevatorSystem(DCMotor motor,
units::kilogram_t mass,
units::meter_t radius,
double gearing);
@@ -59,7 +59,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
* @param gearing Gear ratio from motor to arm.
* @throws std::domain_error if J <= 0 or gearing <= 0.
*/
static LinearSystem<2, 1, 1> SingleJointedArmSystem(
static LinearSystem<2, 1, 2> SingleJointedArmSystem(
DCMotor motor, units::kilogram_square_meter_t J, double gearing);
/**