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[wpiutil] Add Drake and Drake JNI (#2613)

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Drake is a collection of tools for analyzing robot dynamics and building control systems.
See https://drake.mit.edu/ for details.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Matt
2020-07-24 08:34:30 -07:00
committed by GitHub
parent 0c18abed33
commit e759dad019
39 changed files with 4387 additions and 3 deletions
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19
wpiutil/src/test/java/edu/wpi/first/wpiutil/math/DrakeJNITest.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpiutil.math;
import org.junit.jupiter.api.Test;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
public class DrakeJNITest {
@Test
public void testLink() {
assertDoesNotThrow(DrakeJNI::forceLoad);
}
}

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wpiutil/src/test/java/edu/wpi/first/wpiutil/math/DrakeTest.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpiutil.math;
import org.ejml.simple.SimpleMatrix;
import org.junit.jupiter.api.Test;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
@SuppressWarnings({"ParameterName", "LocalVariableName"})
public class DrakeTest {
public static void assertMatrixEqual(SimpleMatrix A, SimpleMatrix B) {
for (int i = 0; i < A.numRows(); i++) {
for (int j = 0; j < A.numCols(); j++) {
assertEquals(A.get(i, j), B.get(i, j), 1e-4);
}
}
}
private boolean solveDAREandVerify(SimpleMatrix A, SimpleMatrix B, SimpleMatrix Q,
SimpleMatrix R) {
var X = Drake.discreteAlgebraicRiccatiEquation(A, B, Q, R);
// expect that x is the same as it's transpose
assertEquals(X.numRows(), X.numCols());
assertMatrixEqual(X, X.transpose());
// Verify that this is a solution to the DARE.
SimpleMatrix Y = A.transpose().mult(X).mult(A)
.minus(X)
.minus(A.transpose().mult(X).mult(B)
.mult(((B.transpose().mult(X).mult(B)).plus(R))
.invert()).mult(B.transpose()).mult(X).mult(A))
.plus(Q);
assertMatrixEqual(Y, new SimpleMatrix(Y.numRows(), Y.numCols()));
return true;
}
@Test
public void testDiscreteAlgebraicRicattiEquation() {
int n1 = 4;
int m1 = 1;
// we know from Scipy that this should be [[0.05048525 0.10097051 0.20194102 0.40388203]]
SimpleMatrix A1 = new SimpleMatrix(n1, n1, true, new double[]{0.5, 1, 0, 0, 0, 0, 1,
0, 0, 0, 0, 1, 0, 0, 0, 0}).transpose();
SimpleMatrix B1 = new SimpleMatrix(n1, m1, true, new double[]{0, 0, 0, 1});
SimpleMatrix Q1 = new SimpleMatrix(n1, n1, true, new double[]{1, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0});
SimpleMatrix R1 = new SimpleMatrix(m1, m1, true, new double[]{0.25});
assertTrue(solveDAREandVerify(A1, B1, Q1, R1));
SimpleMatrix A2 = new SimpleMatrix(2, 2, true, new double[]{1, 1, 0, 1});
SimpleMatrix B2 = new SimpleMatrix(2, 1, true, new double[]{0, 1});
SimpleMatrix Q2 = new SimpleMatrix(2, 2, true, new double[]{1, 0, 0, 0});
SimpleMatrix R2 = new SimpleMatrix(1, 1, true, new double[]{0.3});
assertTrue(solveDAREandVerify(A2, B2, Q2, R2));
}
}