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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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2
wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
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@@ -9,7 +9,7 @@
#include "Eigen/Core"
#include "Eigen/Eigenvalues"
#include "frc/system/Discretization.h"
#include "frc/system/RungeKutta.h"
#include "frc/system/NumericalIntegration.h"
// Check that for a simple second-order system that we can easily analyze
// analytically,