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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2024-12-29 18:22:39 -08:00
parent 3232630a38 eef1bf33de
commit a931a6554f
139 changed files with 39390 additions and 541 deletions
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11
wpimath/src/main/native/include/frc/controller/LTVUnicycleController.h
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@@ -31,8 +31,9 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
public:
/**
* Constructs a linear time-varying unicycle controller with default maximum
* desired error tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum
* desired control effort of (1 m/s, 2 rad/s).
* desired error tolerances of (x = 0.0625 m, y = 0.125 m, heading = 2 rad)
* and default maximum desired control effort of (linear velocity = 1 m/s,
* angular velocity = 2 rad/s).
*
* @param dt Discretization timestep.
*/
@@ -46,8 +47,10 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
* 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 Qelems The maximum desired error tolerance for each state (x, y,
* heading).
* @param Relems The maximum desired control effort for each input (linear
* velocity, angular velocity).
* @param dt Discretization timestep.
*/
LTVUnicycleController(const wpi::array<double, 3>& Qelems,

4
wpimath/src/main/native/include/frc/ct_matrix.h
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@@ -334,7 +334,7 @@ class ct_matrix {
requires(Rows == 3 && Cols == 3)
{
// |a b c|
// |d e f| = aei + bfg + cgh - ceg - bdi - afh
// |d e f| = aei + bfg + cdh - ceg - bdi - afh
// |g h i|
Scalar a = (*this)(0, 0);
Scalar b = (*this)(0, 1);
@@ -345,7 +345,7 @@ class ct_matrix {
Scalar g = (*this)(2, 0);
Scalar h = (*this)(2, 1);
Scalar i = (*this)(2, 2);
return a * e * i + b * f * g + c * g * h - c * e * g - b * d * i -
return a * e * i + b * f * g + c * d * h - c * e * g - b * d * i -
a * f * h;
}

7
wpimath/src/main/native/include/frc/geometry/Rotation2d.h
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@@ -8,7 +8,6 @@
#include <utility>
#include <Eigen/Core>
#include <Eigen/LU>
#include <gcem.hpp>
#include <wpi/StackTrace.h>
#include <wpi/SymbolExports.h>
@@ -77,7 +76,11 @@ class WPILIB_DLLEXPORT Rotation2d {
if ((R * R.transpose() - Matrix2d::Identity()).norm() > 1e-9) {
throw std::domain_error("Rotation matrix isn't orthogonal");
}
if (gcem::abs(R.determinant() - 1.0) > 1e-9) {
// HACK: Uses ct_matrix instead of <Eigen/LU> for determinant because
// including <Eigen/LU> doubles compilation times on MSVC, even if
// this constructor is unused. MSVC's frontend inefficiently parses
// large headers; GCC and Clang are largely unaffected.
if (gcem::abs(ct_matrix{R}.determinant() - 1.0) > 1e-9) {
throw std::domain_error(
"Rotation matrix is orthogonal but not special orthogonal");
}

7
wpimath/src/main/native/include/frc/geometry/Rotation3d.h
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@@ -8,7 +8,6 @@
#include <type_traits>
#include <Eigen/Core>
#include <Eigen/LU>
#include <fmt/format.h>
#include <gcem.hpp>
#include <wpi/SymbolExports.h>
@@ -114,7 +113,11 @@ class WPILIB_DLLEXPORT Rotation3d {
if ((R * R.transpose() - Matrix3d::Identity()).norm() > 1e-9) {
throw std::domain_error("Rotation matrix isn't orthogonal");
}
if (gcem::abs(R.determinant() - 1.0) > 1e-9) {
// HACK: Uses ct_matrix instead of <Eigen/LU> for determinant because
// including <Eigen/LU> doubles compilation times on MSVC, even if
// this constructor is unused. MSVC's frontend inefficiently parses
// large headers; GCC and Clang are largely unaffected.
if (gcem::abs(ct_matrix{R}.determinant() - 1.0) > 1e-9) {
throw std::domain_error(
"Rotation matrix is orthogonal but not special orthogonal");
}