[wpimath] Add usage reporting for state-space classes (#8453)

- LinearQuadraticRegulator
- Kalman filters
- Pose estimators
- LinearSystemLoop

Fixes #2925.

wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h

@@ -135,6 +135,8 @@ class LinearQuadraticRegulator {
     }
 
     Reset();
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kController_LinearQuadraticRegulator, 1);
   }
 
   /**
@@ -194,6 +196,8 @@ class LinearQuadraticRegulator {
     }
 
     Reset();
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kController_LinearQuadraticRegulator, 1);
   }
 
   LinearQuadraticRegulator(LinearQuadraticRegulator&&) = default;

wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h

@@ -137,6 +137,8 @@ class ExtendedKalmanFilter {
       m_initP = StateMatrix::Zero();
     }
     m_P = m_initP;
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_KalmanFilter, 2);
   }
 
   /**
@@ -221,6 +223,8 @@ class ExtendedKalmanFilter {
       m_initP = StateMatrix::Zero();
     }
     m_P = m_initP;
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_KalmanFilter, 2);
   }
 
   /**

wpimath/src/main/native/include/frc/estimator/KalmanFilter.h

@@ -118,6 +118,8 @@ class KalmanFilter {
     }
 
     Reset();
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_KalmanFilter, 1);
   }
 
   /**

wpimath/src/main/native/include/frc/estimator/PoseEstimator.h

@@ -70,6 +70,8 @@ class WPILIB_DLLEXPORT PoseEstimator {
     }
 
     SetVisionMeasurementStdDevs(visionMeasurementStdDevs);
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_PoseEstimator, 1);
   }
 
   /**

wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h

@@ -76,6 +76,8 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
     }
 
     SetVisionMeasurementStdDevs(visionMeasurementStdDevs);
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_PoseEstimator3d, 1);
   }
 
   /**

wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h

@@ -149,6 +149,8 @@ class SteadyStateKalmanFilter {
     }
 
     Reset();
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_KalmanFilter, 4);
   }
 
   SteadyStateKalmanFilter(SteadyStateKalmanFilter&&) = default;

wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h

@@ -107,6 +107,8 @@ class UnscentedKalmanFilter {
     m_dt = dt;
 
     Reset();
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_KalmanFilter, 3);
   }
 
   /**
@@ -166,6 +168,8 @@ class UnscentedKalmanFilter {
     m_dt = dt;
 
     Reset();
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_KalmanFilter, 3);
   }
 
   /**

wpimath/src/main/native/include/frc/system/LinearSystemLoop.h

@@ -129,6 +129,8 @@ class LinearSystemLoop {
         m_clampFunc(clampFunction) {
     m_nextR.setZero();
     Reset(m_nextR);
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kSystem_LinearSystemLoop, 1);
   }
 
   LinearSystemLoop(LinearSystemLoop&&) = default;

wpimath/src/main/native/include/wpimath/MathShared.h

@@ -26,6 +26,11 @@ enum class MathUsageId {
   kController_ProfiledPIDController,
   kController_BangBangController,
   kTrajectory_PathWeaver,
+  kController_LinearQuadraticRegulator,
+  kEstimator_KalmanFilter,
+  kEstimator_PoseEstimator,
+  kEstimator_PoseEstimator3d,
+  kSystem_LinearSystemLoop,
 };
 
 class WPILIB_DLLEXPORT MathShared {