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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/test/native/cpp/system/LinearSystemIDTest.cpp
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@@ -28,7 +28,8 @@ TEST(LinearSystemIDTest, IdentifyDrivetrainVelocitySystem) {
TEST(LinearSystemIDTest, ElevatorSystem) {
auto model = frc::LinearSystemId::ElevatorSystem(frc::DCMotor::NEO(2), 5_kg,
0.05_m, 12);
0.05_m, 12)
.Slice(0);
ASSERT_TRUE(model.A().isApprox(
frc::Matrixd<2, 2>{{0.0, 1.0}, {0.0, -99.05473}}, 0.001));
ASSERT_TRUE(model.B().isApprox(frc::Matrixd<2, 1>{0.0, 20.8}, 0.001));