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[wpimath] LinearSystemId: Don't throw if Kv = 0 (#6424)

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That's just a system with no back-EMF.
This commit is contained in:
Tyler Veness
2024-03-10 08:11:18 -07:00
committed by GitHub
parent 7bd8c44570
commit 973bb55e66
2 changed files with 18 additions and 18 deletions
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18
wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
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@@ -79,7 +79,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
*
* @param kV The velocity gain, in volts/(unit/sec).
* @param kA The acceleration gain, in volts/(unit/sec²).
* @throws std::domain_error if kV <= 0 or kA <= 0.
* @throws std::domain_error if kV < 0 or kA <= 0.
* @see <a
* href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
@@ -89,8 +89,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
static LinearSystem<1, 1, 1> IdentifyVelocitySystem(
decltype(1_V / Velocity_t<Distance>(1)) kV,
decltype(1_V / Acceleration_t<Distance>(1)) kA) {
if (kV <= decltype(kV){0}) {
throw std::domain_error("Kv must be greater than zero.");
if (kV < decltype(kV){0}) {
throw std::domain_error("Kv must be greater than or equal to zero.");
}
if (kA <= decltype(kA){0}) {
throw std::domain_error("Ka must be greater than zero.");
@@ -122,7 +122,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
* @param kV The velocity gain, in volts/(unit/sec).
* @param kA The acceleration gain, in volts/(unit/sec²).
*
* @throws std::domain_error if kV <= 0 or kA <= 0.
* @throws std::domain_error if kV < 0 or kA <= 0.
* @see <a
* href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
@@ -132,8 +132,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
static LinearSystem<2, 1, 1> IdentifyPositionSystem(
decltype(1_V / Velocity_t<Distance>(1)) kV,
decltype(1_V / Acceleration_t<Distance>(1)) kA) {
if (kV <= decltype(kV){0}) {
throw std::domain_error("Kv must be greater than zero.");
if (kV < decltype(kV){0}) {
throw std::domain_error("Kv must be greater than or equal to zero.");
}
if (kA <= decltype(kA){0}) {
throw std::domain_error("Ka must be greater than zero.");
@@ -251,7 +251,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
* @param kV The velocity gain, in volts/(unit/sec).
* @param kA The acceleration gain, in volts/(unit/sec²).
*
* @throws std::domain_error if kV <= 0 or kA <= 0.
* @throws std::domain_error if kV < 0 or kA <= 0.
*/
template <typename Distance>
requires std::same_as<units::meter, Distance> ||
@@ -259,8 +259,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
static LinearSystem<2, 1, 2> DCMotorSystem(
decltype(1_V / Velocity_t<Distance>(1)) kV,
decltype(1_V / Acceleration_t<Distance>(1)) kA) {
if (kV <= decltype(kV){0}) {
throw std::domain_error("Kv must be greater than zero.");
if (kV < decltype(kV){0}) {
throw std::domain_error("Kv must be greater than or equal to zero.");
}
if (kA <= decltype(kA){0}) {
throw std::domain_error("Ka must be greater than zero.");