Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

SCRIPT namespace replacements

Browse Source
This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
tools/sysid/src/main/native/cpp/view/AnalyzerPlot.cpp
View File

@@ -30,7 +30,7 @@ static ImPlotPoint Getter(int idx, void* data) {
template <typename Model>
static std::vector<std::vector<ImPlotPoint>> PopulateTimeDomainSim(
const std::vector<PreparedData>& data,
const std::array<units::second_t, 4>& startTimes, size_t step, Model model,
const std::array<wpi::units::second_t, 4>& startTimes, size_t step, Model model,
double* simSquaredErrorSum, double* squaredVariationSum,
int* timeSeriesPoints) {
// Create the vector of ImPlotPoints that will contain our simulated data.
@@ -42,7 +42,7 @@ static std::vector<std::vector<ImPlotPoint>> PopulateTimeDomainSim(
tmp.emplace_back(startTime.value(), data[0].velocity);
model.Reset(data[0].position, data[0].velocity);
units::second_t t = 0_s;
wpi::units::second_t t = 0_s;
for (size_t i = 1; i < data.size(); ++i) {
const auto& now = data[i];
@@ -60,7 +60,7 @@ static std::vector<std::vector<ImPlotPoint>> PopulateTimeDomainSim(
continue;
}
model.Update(units::volt_t{pre.voltage}, now.timestamp - pre.timestamp);
model.Update(wpi::units::volt_t{pre.voltage}, now.timestamp - pre.timestamp);
tmp.emplace_back((startTime + t).value(), model.GetVelocity());
*simSquaredErrorSum += std::pow(now.velocity - model.GetVelocity(), 2);
*squaredVariationSum += std::pow(now.velocity, 2);
@@ -71,7 +71,7 @@ static std::vector<std::vector<ImPlotPoint>> PopulateTimeDomainSim(
return pts;
}
AnalyzerPlot::AnalyzerPlot(wpi::Logger& logger) : m_logger(logger) {}
AnalyzerPlot::AnalyzerPlot(wpi::util::Logger& logger) : m_logger(logger) {}
void AnalyzerPlot::SetRawTimeData(const std::vector<PreparedData>& rawSlow,
const std::vector<PreparedData>& rawFast,
@@ -131,7 +131,7 @@ void AnalyzerPlot::SetRawData(const Storage& data, std::string_view unit,
void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
std::string_view unit,
const AnalysisManager::FeedforwardGains& ffGains,
const std::array<units::second_t, 4>& startTimes,
const std::array<wpi::units::second_t, 4>& startTimes,
AnalysisType type, std::atomic<bool>& abort) {
double simSquaredErrorSum = 0;
double squaredVariationSum = 0;
@@ -163,7 +163,7 @@ void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
auto slowStep = std::ceil(slow.size() * 1.0 / kMaxSize * 4);
auto fastStep = std::ceil(fast.size() * 1.0 / kMaxSize * 4);
units::second_t dtMean = GetMeanTimeDelta(filteredData);
wpi::units::second_t dtMean = GetMeanTimeDelta(filteredData);
// Velocity-vs-time plots
{
@@ -192,7 +192,7 @@ void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
slow[i].timestamp) == startTimes.end()) {
m_timestepData.data.emplace_back(
(slow[i].timestamp).value(),
units::millisecond_t{slow[i].dt}.value());
wpi::units::millisecond_t{slow[i].dt}.value());
}
}
}
@@ -217,7 +217,7 @@ void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
fast[i].timestamp) == startTimes.end()) {
m_timestepData.data.emplace_back(
(fast[i].timestamp).value(),
units::millisecond_t{fast[i].dt}.value());
wpi::units::millisecond_t{fast[i].dt}.value());
}
}
}
@@ -334,7 +334,7 @@ void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
startTimes.end()) {
m_timestepData.data.emplace_back(
(slow[i].timestamp).value(),
units::millisecond_t{slow[i].dt}.value());
wpi::units::millisecond_t{slow[i].dt}.value());
}
}
}
@@ -351,19 +351,19 @@ void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
startTimes.end()) {
m_timestepData.data.emplace_back(
(fast[i].timestamp).value(),
units::millisecond_t{fast[i].dt}.value());
wpi::units::millisecond_t{fast[i].dt}.value());
}
}
}
auto minTime =
units::math::min(slow.front().timestamp, fast.front().timestamp);
wpi::units::math::min(slow.front().timestamp, fast.front().timestamp);
m_timestepData.fitLine[0] =
ImPlotPoint{minTime.value(), units::millisecond_t{dtMean}.value()};
ImPlotPoint{minTime.value(), wpi::units::millisecond_t{dtMean}.value()};
auto maxTime = units::math::max(slow.back().timestamp, fast.back().timestamp);
auto maxTime = wpi::units::math::max(slow.back().timestamp, fast.back().timestamp);
m_timestepData.fitLine[1] =
ImPlotPoint{maxTime.value(), units::millisecond_t{dtMean}.value()};
ImPlotPoint{maxTime.value(), wpi::units::millisecond_t{dtMean}.value()};
// RMSE = std::sqrt(sum((x_i - x^_i)^2) / N) where sum represents the sum of
// all time series points, x_i represents the velocity at a timestep, x^_i