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This commit is contained in:
PJ Reiniger
2025-11-07 19:57:21 -05:00
committed by Peter Johnson
parent c89910b7c6
commit c48b722dac
650 changed files with 1529 additions and 1545 deletions
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2
wpimath/src/main/java/org/wpilib/math/system/Discretization.java
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@@ -4,10 +4,10 @@
package org.wpilib.math.system;
import org.ejml.simple.SimpleMatrix;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.util.Num;
import org.wpilib.math.util.Pair;
import org.ejml.simple.SimpleMatrix;
/** Discretization helper functions. */
public final class Discretization {

14
wpimath/src/main/java/org/wpilib/math/system/LinearSystem.java
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@@ -4,9 +4,12 @@
package org.wpilib.math.system;
import java.util.Arrays;
import java.util.Collections;
import java.util.List;
import java.util.stream.Collectors;
import org.ejml.simple.SimpleMatrix;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Num;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.numbers.N10;
import org.wpilib.math.numbers.N11;
@@ -29,15 +32,12 @@ import org.wpilib.math.numbers.N8;
import org.wpilib.math.numbers.N9;
import org.wpilib.math.system.proto.LinearSystemProto;
import org.wpilib.math.system.struct.LinearSystemStruct;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Num;
import org.wpilib.util.protobuf.Protobuf;
import org.wpilib.util.protobuf.ProtobufSerializable;
import org.wpilib.util.struct.Struct;
import org.wpilib.util.struct.StructSerializable;
import java.util.Arrays;
import java.util.Collections;
import java.util.List;
import java.util.stream.Collectors;
import org.ejml.simple.SimpleMatrix;
/**
* A plant defined using state-space notation.

14
wpimath/src/main/java/org/wpilib/math/system/LinearSystemLoop.java
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@@ -4,16 +4,16 @@
package org.wpilib.math.system;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.util.Num;
import org.wpilib.math.util.StateSpaceUtil;
import org.wpilib.math.controller.LinearPlantInversionFeedforward;
import org.wpilib.math.controller.LinearQuadraticRegulator;
import org.wpilib.math.estimator.KalmanFilter;
import org.wpilib.math.numbers.N1;
import java.util.function.Function;
import org.ejml.MatrixDimensionException;
import org.ejml.simple.SimpleMatrix;
import org.wpilib.math.controller.LinearPlantInversionFeedforward;
import org.wpilib.math.controller.LinearQuadraticRegulator;
import org.wpilib.math.estimator.KalmanFilter;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.util.Num;
import org.wpilib.math.util.StateSpaceUtil;
/**
* Combines a controller, feedforward, and observer for controlling a mechanism with full state

6
wpimath/src/main/java/org/wpilib/math/system/NumericalIntegration.java
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@@ -4,13 +4,13 @@
package org.wpilib.math.system;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.util.Num;
import org.wpilib.math.numbers.N1;
import java.util.function.BiFunction;
import java.util.function.DoubleBinaryOperator;
import java.util.function.DoubleUnaryOperator;
import java.util.function.UnaryOperator;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.util.Num;
/** Numerical integration utilities. */
public final class NumericalIntegration {

8
wpimath/src/main/java/org/wpilib/math/system/NumericalJacobian.java
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@@ -4,12 +4,12 @@
package org.wpilib.math.system;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Num;
import org.wpilib.math.numbers.N1;
import java.util.function.BiFunction;
import java.util.function.Function;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Num;
/** Numerical Jacobian utilities. */
public final class NumericalJacobian {

2
wpimath/src/main/java/org/wpilib/math/system/plant/LinearSystemId.java
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@@ -6,11 +6,11 @@ package org.wpilib.math.system.plant;
import org.wpilib.math.linalg.MatBuilder;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.util.Nat;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.numbers.N2;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.util.Nat;
/** Linear system ID utility functions. */
public final class LinearSystemId {

2
wpimath/src/main/java/org/wpilib/math/system/plant/struct/DCMotorStruct.java
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@@ -4,9 +4,9 @@
package org.wpilib.math.system.plant.struct;
import java.nio.ByteBuffer;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.util.struct.Struct;
import java.nio.ByteBuffer;
public class DCMotorStruct implements Struct<DCMotor> {
@Override

4
wpimath/src/main/java/org/wpilib/math/system/proto/LinearSystemProto.java
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@@ -5,11 +5,11 @@
package org.wpilib.math.system.proto;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Num;
import org.wpilib.math.proto.System.ProtobufLinearSystem;
import org.wpilib.math.proto.Wpimath.ProtobufMatrix;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Num;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;

6
wpimath/src/main/java/org/wpilib/math/system/struct/LinearSystemStruct.java
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@@ -4,13 +4,13 @@
package org.wpilib.math.system.struct;
import java.nio.ByteBuffer;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Num;
import org.wpilib.math.linalg.struct.MatrixStruct;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Num;
import org.wpilib.util.struct.Struct;
import java.nio.ByteBuffer;
public final class LinearSystemStruct<States extends Num, Inputs extends Num, Outputs extends Num>
implements Struct<LinearSystem<States, Inputs, Outputs>> {