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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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2
wpimath/src/test/native/cpp/StateSpaceTest.cpp
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@@ -36,7 +36,7 @@ class StateSpaceTest : public testing::Test {
// Gear ratio
constexpr double G = 40.0 / 40.0;
return frc::LinearSystemId::ElevatorSystem(motors, m, r, G);
return frc::LinearSystemId::ElevatorSystem(motors, m, r, G).Slice(0);
}();
LinearQuadraticRegulator<2, 1> controller{plant, {0.02, 0.4}, {12.0}, kDt};
KalmanFilter<2, 1, 1> observer{plant, {0.05, 1.0}, {0.0001}, kDt};