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[wpimath] Link to docs on LQR and KF tolerances (#5486)

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Fixes #4151.
This commit is contained in:
Tyler Veness
2023-07-31 19:17:44 -07:00
committed by GitHub
parent d814f1d123
commit a01b6467d3
12 changed files with 76 additions and 0 deletions
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4
wpimath/src/main/native/include/frc/controller/LTVDifferentialDriveController.h
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@@ -35,6 +35,10 @@ class WPILIB_DLLEXPORT LTVDifferentialDriveController {
/**
* Constructs a linear time-varying differential drive controller.
*
* See
* https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
* for how to select the tolerances.
*
* @param plant The differential drive velocity plant.
* @param trackwidth The distance between the differential drive's left and
* right wheels.

4
wpimath/src/main/native/include/frc/controller/LTVUnicycleController.h
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@@ -44,6 +44,10 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
/**
* Constructs a linear time-varying unicycle controller.
*
* See
* https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
* for how to select the tolerances.
*
* @param Qelems The maximum desired error tolerance for each state.
* @param Relems The maximum desired control effort for each input.
* @param dt Discretization timestep.

8
wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
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@@ -36,6 +36,10 @@ class LinearQuadraticRegulator {
/**
* Constructs a controller with the given coefficients and plant.
*
* See
* https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
* for how to select the tolerances.
*
* @param plant The plant being controlled.
* @param Qelems The maximum desired error tolerance for each state.
* @param Relems The maximum desired control effort for each input.
@@ -50,6 +54,10 @@ class LinearQuadraticRegulator {
/**
* Constructs a controller with the given coefficients and plant.
*
* See
* https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
* for how to select the tolerances.
*
* @param A Continuous system matrix of the plant being controlled.
* @param B Continuous input matrix of the plant being controlled.
* @param Qelems The maximum desired error tolerance for each state.