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

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

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files

7
wpimath/src/main/python/pyproject.toml
View File

@@ -60,6 +60,7 @@ scan_headers_ignore = [
"wpi/math/linalg/ct_matrix.hpp",
"wpi/math/linalg/DARE.hpp",
"wpi/math/linalg/EigenCore.hpp",
"wpi/math/system/LinearSystemUtil.hpp",
"wpi/math/util/StateSpaceUtil.hpp",
"wpi/math/fmt/Eigen.hpp",
@@ -77,6 +78,8 @@ scan_headers_ignore = [
"wpi/math/geometry/detail/RotationVectorToMatrix.hpp",
"wpi/math/random/Normal.hpp",
"wpi/math/system/Discretization.hpp",
"wpi/math/system/NumericalIntegration.hpp",
"wpi/math/system/NumericalJacobian.hpp",
@@ -1605,6 +1608,9 @@ SwerveDrivePoseEstimator3d = "wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp"
# wpi/math/optimization
SimulatedAnnealing = "wpi/math/optimization/SimulatedAnnealing.hpp"
# wpi/math/random
# Normal = "wpi/math/random/Normal.hpp"
# wpi/math/path
TravelingSalesman = "wpi/math/path/TravelingSalesman.hpp"
@@ -1612,6 +1618,7 @@ TravelingSalesman = "wpi/math/path/TravelingSalesman.hpp"
# Discretization = "wpi/math/system/Discretization.hpp"
LinearSystem = "wpi/math/system/LinearSystem.hpp"
LinearSystemLoop = "wpi/math/system/LinearSystemLoop.hpp"
# LinearSystemUtil = "wpi/math/system/LinearSystemUtil.hpp"
# NumericalIntegration = "wpi/math/system/NumericalIntegration.hpp"
# NumericalJacobian = "wpi/math/system/NumericalJacobian.hpp"