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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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3
wpilibj/src/main/java/org/wpilib/simulation/LinearSystemSim.java
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@@ -8,6 +8,7 @@ import org.ejml.MatrixDimensionException;
import org.ejml.simple.SimpleMatrix;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.random.Normal;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.util.Num;
import org.wpilib.math.util.StateSpaceUtil;
@@ -83,7 +84,7 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
// Add measurement noise.
if (m_measurementStdDevs != null) {
m_y = m_y.plus(StateSpaceUtil.makeWhiteNoiseVector(m_measurementStdDevs));
m_y = m_y.plus(Normal.normal(m_measurementStdDevs));
}
}