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[wpimath] Refactor StateSpaceUtil into separate files (#8421)

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* Moved makeWhiteNoiseVector() to random.Normal.normal()
* Moved isControllable() and isDetectable() to system.LinearSystemUtil
* Renamed makeCostMatrix() to costMatrix() (Java)
* Renamed makeCovarianceMatrix() to covarianceMatrix() (Java)
* Renamed MakeCostMatrix() to CostMatrix() (C++)
* Renamed MakeCovMatrix() to CovarianceMatrix() (C++)
* Removed deprecated poseTo3dVector(), poseTo4dVector(), poseToVector()
* Removed clampInputMaxMagnitude()
* We don't use it, and Eigen has this functionality built in via `u =
u.array().min(u_max.array()).max(u_min.array());`
* Simplified implementation of desaturateInputVector()
This commit is contained in:
Tyler Veness
2025-11-29 10:28:38 -08:00
committed by GitHub
parent c8e6ce1ca4
commit a79f86ade3
51 changed files with 755 additions and 741 deletions
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4
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
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@@ -5,7 +5,7 @@
#pragma once
#include "wpi/math/geometry/Pose2d.hpp"
#include "wpi/math/util/StateSpaceUtil.hpp"
#include "wpi/math/random/Normal.hpp"
/**
* This dummy class represents a global measurement sensor, such as a computer
@@ -15,7 +15,7 @@ class ExampleGlobalMeasurementSensor {
public:
static wpi::math::Pose2d GetEstimatedGlobalPose(
const wpi::math::Pose2d& estimatedRobotPose) {
auto randVec = wpi::math::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
auto randVec = wpi::math::Normal(0.1, 0.1, 0.1);
return wpi::math::Pose2d{
estimatedRobotPose.X() + wpi::units::meter_t{randVec(0)},
estimatedRobotPose.Y() + wpi::units::meter_t{randVec(1)},

4
wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
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@@ -5,7 +5,7 @@
#pragma once
#include "wpi/math/geometry/Pose2d.hpp"
#include "wpi/math/util/StateSpaceUtil.hpp"
#include "wpi/math/random/Normal.hpp"
/**
* This dummy class represents a global measurement sensor, such as a computer
@@ -15,7 +15,7 @@ class ExampleGlobalMeasurementSensor {
public:
static wpi::math::Pose2d GetEstimatedGlobalPose(
const wpi::math::Pose2d& estimatedRobotPose) {
auto randVec = wpi::math::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
auto randVec = wpi::math::Normal(0.1, 0.1, 0.1);
return wpi::math::Pose2d{
estimatedRobotPose.X() + wpi::units::meter_t{randVec(0)},
estimatedRobotPose.Y() + wpi::units::meter_t{randVec(1)},

4
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
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@@ -5,7 +5,7 @@
#pragma once
#include "wpi/math/geometry/Pose2d.hpp"
#include "wpi/math/util/StateSpaceUtil.hpp"
#include "wpi/math/random/Normal.hpp"
/**
* This dummy class represents a global measurement sensor, such as a computer
@@ -15,7 +15,7 @@ class ExampleGlobalMeasurementSensor {
public:
static wpi::math::Pose2d GetEstimatedGlobalPose(
const wpi::math::Pose2d& estimatedRobotPose) {
auto randVec = wpi::math::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
auto randVec = wpi::math::Normal(0.1, 0.1, 0.1);
return wpi::math::Pose2d{
estimatedRobotPose.X() + wpi::units::meter_t{randVec(0)},
estimatedRobotPose.Y() + wpi::units::meter_t{randVec(1)},