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[wpimath] Add RKF45 integration (#3047)

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This is more stable than Runge-Kutta for systems with large elements in their A or B matrices.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Matt
2021-01-06 21:40:25 -08:00
committed by GitHub
parent 278e0f126e
commit 85a0bd43c2
25 changed files with 560 additions and 210 deletions
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wpimath/src/test/native/cpp/estimator/UnscentedKalmanFilterTest.cpp
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@@ -12,8 +12,8 @@
#include "frc/StateSpaceUtil.h"
#include "frc/estimator/AngleStatistics.h"
#include "frc/estimator/UnscentedKalmanFilter.h"
#include "frc/system/NumericalIntegration.h"
#include "frc/system/NumericalJacobian.h"
#include "frc/system/RungeKutta.h"
#include "frc/system/plant/DCMotor.h"
#include "frc/trajectory/TrajectoryGenerator.h"
#include "units/moment_of_inertia.h"
@@ -154,7 +154,7 @@ TEST(UnscentedKalmanFilterTest, Convergence) {
observer.Predict(u, dt);
r = nextR;
trueXhat = frc::RungeKutta(Dynamics, trueXhat, u, dt);
trueXhat = frc::RK4(Dynamics, trueXhat, u, dt);
}
auto localY = LocalMeasurementModel(trueXhat, u);