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[wpimath] Document LQR and KalmanFilter exceptions (#4418)

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This commit is contained in:
Tyler Veness
2022-09-17 00:16:40 -07:00
committed by GitHub
parent 5b656eecf6
commit 9730032866
4 changed files with 10 additions and 0 deletions
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4
wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
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@@ -44,6 +44,7 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
* @param qelms The maximum desired error tolerance for each state.
* @param relms The maximum desired control effort for each input.
* @param dtSeconds Discretization timestep.
* @throws IllegalArgumentException If the system is uncontrollable.
*/
public LinearQuadraticRegulator(
LinearSystem<States, Inputs, Outputs> plant,
@@ -66,6 +67,7 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
* @param qelms The maximum desired error tolerance for each state.
* @param relms The maximum desired control effort for each input.
* @param dtSeconds Discretization timestep.
* @throws IllegalArgumentException If the system is uncontrollable.
*/
@SuppressWarnings({"ParameterName", "LocalVariableName"})
public LinearQuadraticRegulator(
@@ -90,6 +92,7 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
* @param Q The state cost matrix.
* @param R The input cost matrix.
* @param dtSeconds Discretization timestep.
* @throws IllegalArgumentException If the system is uncontrollable.
*/
@SuppressWarnings({"LocalVariableName", "ParameterName"})
public LinearQuadraticRegulator(
@@ -141,6 +144,7 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
* @param R The input cost matrix.
* @param N The state-input cross-term cost matrix.
* @param dtSeconds Discretization timestep.
* @throws IllegalArgumentException If the system is uncontrollable.
*/
@SuppressWarnings({"ParameterName", "LocalVariableName"})
public LinearQuadraticRegulator(

1
wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
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@@ -52,6 +52,7 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
* @param stateStdDevs Standard deviations of model states.
* @param measurementStdDevs Standard deviations of measurements.
* @param dtSeconds Nominal discretization timestep.
* @throws IllegalArgumentException If the system is unobservable.
*/
@SuppressWarnings("LocalVariableName")
public KalmanFilter(

4
wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
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@@ -40,6 +40,7 @@ class LinearQuadraticRegulator {
* @param Qelems The maximum desired error tolerance for each state.
* @param Relems The maximum desired control effort for each input.
* @param dt Discretization timestep.
* @throws std::invalid_argument If the system is uncontrollable.
*/
template <int Outputs>
LinearQuadraticRegulator(const LinearSystem<States, Inputs, Outputs>& plant,
@@ -54,6 +55,7 @@ class LinearQuadraticRegulator {
* @param Qelems The maximum desired error tolerance for each state.
* @param Relems The maximum desired control effort for each input.
* @param dt Discretization timestep.
* @throws std::invalid_argument If the system is uncontrollable.
*/
LinearQuadraticRegulator(const Matrixd<States, States>& A,
const Matrixd<States, Inputs>& B,
@@ -68,6 +70,7 @@ class LinearQuadraticRegulator {
* @param Q The state cost matrix.
* @param R The input cost matrix.
* @param dt Discretization timestep.
* @throws std::invalid_argument If the system is uncontrollable.
*/
LinearQuadraticRegulator(const Matrixd<States, States>& A,
const Matrixd<States, Inputs>& B,
@@ -84,6 +87,7 @@ class LinearQuadraticRegulator {
* @param R The input cost matrix.
* @param N The state-input cross-term cost matrix.
* @param dt Discretization timestep.
* @throws std::invalid_argument If the system is uncontrollable.
*/
LinearQuadraticRegulator(const Matrixd<States, States>& A,
const Matrixd<States, Inputs>& B,

1
wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
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@@ -50,6 +50,7 @@ class KalmanFilter {
* @param stateStdDevs Standard deviations of model states.
* @param measurementStdDevs Standard deviations of measurements.
* @param dt Nominal discretization timestep.
* @throws std::invalid_argument If the system is unobservable.
*/
KalmanFilter(LinearSystem<States, Inputs, Outputs>& plant,
const StateArray& stateStdDevs,