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[wpimath] Make more LinearSystemId functions not throw if Kv = 0 (#6465)

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This commit is contained in:
Tyler Veness
2024-03-24 23:50:41 -07:00
committed by GitHub
parent c32e7db8e3
commit 85ea5f8497
1 changed files with 2 additions and 2 deletions
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4
wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
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@@ -262,7 +262,7 @@ public final class LinearSystemId {
* @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
public static LinearSystem<N1, N1, N1> identifyVelocitySystem(double kV, double kA) {
if (kV <= 0.0) {
if (kV < 0.0) {
throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
}
if (kA <= 0.0) {
@@ -295,7 +295,7 @@ public final class LinearSystemId {
* @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
public static LinearSystem<N2, N1, N1> identifyPositionSystem(double kV, double kA) {
if (kV <= 0.0) {
if (kV < 0.0) {
throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
}
if (kA <= 0.0) {