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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2025-08-03 11:51:25 -07:00
parent 23f5725853 2d11946d98
commit ed7982563b
50 changed files with 1390 additions and 44 deletions
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2
.gersemirc
View File

@@ -1,6 +1,4 @@
color: false
definitions: [cmake/modules]
line_length: 100
list_expansion: favour-inlining
quiet: false
unsafe: false

4
.github/workflows/lint-format.yml vendored
View File

@@ -36,7 +36,7 @@ jobs:
- name: Install wpiformat
run: |
python -m venv ${{ runner.temp }}/wpiformat
${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.33
${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.34
- name: Run
run: ${{ runner.temp }}/wpiformat/bin/wpiformat
- name: Check output
@@ -78,7 +78,7 @@ jobs:
- name: Install wpiformat
run: |
python -m venv ${{ runner.temp }}/wpiformat
${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.33
${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.34
- name: Create compile_commands.json
run: |
./gradlew generateCompileCommands -Ptoolchain-optional-roboRio

9
.github/workflows/upstream-utils.yml vendored
View File

@@ -141,4 +141,11 @@ jobs:
- name: Add untracked files to index so they count as changes
run: git add -A
- name: Check output
run: git --no-pager diff --exit-code HEAD ':!*.bazel'
run: |
set +e
git --no-pager diff --exit-code HEAD ':!*.bazel'
git_exit_code=$?
if test "$git_exit_code" -ne "0"; then
echo "::error ::upstream_utils check failed. This is usually caused by a bad script or the copied files differing from what the script outputs. You can learn more about using upstream_utils to modify thirdparty libraries at https://github.com/wpilibsuite/allwpilib/blob/main/upstream_utils/README.md"
exit $git_exit_code
fi

3
cscore/src/main/native/cpp/MjpegServerImpl.cpp
View File

@@ -773,8 +773,7 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
lastFrameTime = thisFrameTime;
double timestamp = lastFrameTime / 1000000.0;
header.clear();
oss << "\r\n--" BOUNDARY "\r\n"
<< "Content-Type: image/jpeg\r\n";
oss << "\r\n--" BOUNDARY "\r\n" << "Content-Type: image/jpeg\r\n";
wpi::print(oss, "Content-Length: {}\r\n", size);
wpi::print(oss, "X-Timestamp: {}\r\n", timestamp);
oss << "\r\n";

2
hal/src/main/native/include/hal/simulation/SimCallbackRegistry.h
View File

@@ -102,7 +102,7 @@ class SimCallbackRegistry : public impl::SimCallbackRegistryBase {
*/
#define HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(NAME) \
static LLVM_ATTRIBUTE_ALWAYS_INLINE constexpr const char* \
Get##NAME##Name() { \
Get##NAME##Name() { \
return #NAME; \
}

2
hal/src/main/native/include/hal/simulation/SimDataValue.h
View File

@@ -127,7 +127,7 @@ class SimDataValue final : public impl::SimDataValueBase<T, MakeValue> {
*/
#define HAL_SIMDATAVALUE_DEFINE_NAME(NAME) \
static LLVM_ATTRIBUTE_ALWAYS_INLINE constexpr const char* \
Get##NAME##Name() { \
Get##NAME##Name() { \
return #NAME; \
}

5
hal/src/main/native/systemcore/CTREPCM.cpp
View File

@@ -409,8 +409,9 @@ void HAL_SetCTREPCMOneShotDuration(HAL_CTREPCMHandle handle, int32_t index,
message.dataSize = 8;
std::scoped_lock lock{pcm->lock};
pcm->oneShot.sol10MsPerUnit[index] = (std::min)(
static_cast<uint32_t>(durMs) / 10, static_cast<uint32_t>(0xFF));
pcm->oneShot.sol10MsPerUnit[index] =
(std::min)(static_cast<uint32_t>(durMs) / 10,
static_cast<uint32_t>(0xFF));
std::memcpy(message.data, pcm->oneShot.sol10MsPerUnit, 8);
HAL_WriteCANPacketRepeating(pcm->canHandle, Control3, &message, SendPeriod,
status);

6
shared/ceres.gradle
View File

@@ -1,12 +1,14 @@
nativeUtils {
nativeDependencyContainer {
ceres(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
groupId = "edu.wpi.first.thirdparty.frc2024.ceres"
groupId = "edu.wpi.first.thirdparty.frc2026.ceres"
artifactId = "ceres-cpp"
headerClassifier = "headers"
sourceClassifier = "sources"
ext = "zip"
version = '2.2-3'
version = '2.2-1'
targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
targetPlatforms.addAll("linuxarm32", "linuxarm64")
}
}
}

9
simulation/halsim_gui/src/main/native/cpp/main.cpp
View File

@@ -61,6 +61,12 @@ __declspec(dllexport)
reinterpret_cast<void*>((AddGuiEarlyExecuteFn)&AddGuiEarlyExecute));
HAL_RegisterExtension(HALSIMGUI_EXT_GUIEXIT,
reinterpret_cast<void*>((GuiExitFn)&GuiExit));
HAL_RegisterExtension(
HALSIMGUI_EXT_GETGUICONTEXT,
reinterpret_cast<void*>((GetGuiContextFn)&gui::GetCurrentContext));
HAL_RegisterExtension(
HALSIMGUI_EXT_GETGLASSCONTEXT,
reinterpret_cast<void*>((GetGlassContextFn)&glass::GetCurrentContext));
HALSimGui::GlobalInit();
DriverStationGui::GlobalInit();
@@ -150,6 +156,9 @@ __declspec(dllexport)
ImGuiConfigFlags_DockingEnable)) {
return 0;
}
HAL_RegisterExtension(
HALSIMGUI_EXT_GETIMGUICONTEXT,
reinterpret_cast<void*>((GetImguiContextFn)&ImGui::GetCurrentContext));
HAL_RegisterExtensionListener(
nullptr, [](void*, const char* name, void* data) {
if (std::string_view{name} == "ds_socket") {

19
simulation/halsim_gui/src/main/native/include/HALSimGuiExt.h
View File

@@ -6,6 +6,16 @@
#include <functional>
struct ImGuiContext;
namespace glass {
class Context;
} // namespace glass
namespace wpi::gui {
struct Context;
} // namespace wpi::gui
namespace halsimgui {
// These functions can be used to hook into the GUI, and can be accessed
@@ -23,4 +33,13 @@ using AddGuiEarlyExecuteFn = void (*)(std::function<void()> execute);
#define HALSIMGUI_EXT_GUIEXIT "halsimgui::GuiExit"
using GuiExitFn = void (*)();
#define HALSIMGUI_EXT_GETIMGUICONTEXT "halsimgui::GetImguiContext"
using GetImguiContextFn = ImGuiContext* (*)();
#define HALSIMGUI_EXT_GETGUICONTEXT "halsimgui::GetGuiContext"
using GetGuiContextFn = wpi::gui::Context* (*)();
#define HALSIMGUI_EXT_GETGLASSCONTEXT "halsimgui::GetGlassContext"
using GetGlassContextFn = glass::Context* (*)();
} // namespace halsimgui

9
upstream_utils/eigen.py
View File

@@ -47,10 +47,18 @@ def eigen_inclusions(dp: Path, f: str):
or "SSE" in dp.parts
)
if (
"StlSupport" in dp.parts
and not f.endswith("StdList.h")
and not f.endswith("StdDeque.h")
):
return True
# Include the following modules
modules = [
"Cholesky",
"Core",
"Dense",
"Eigenvalues",
"Geometry",
"Householder",
@@ -64,6 +72,7 @@ def eigen_inclusions(dp: Path, f: str):
"SparseCore",
"SparseLU",
"SparseQR",
"StdVector",
"misc",
"plugins",
]

3
upstream_utils/mrcal_java.py
View File

@@ -32,6 +32,9 @@ def copy_upstream_src(wpilib_root: Path):
with open(f) as file:
content = file.read()
content = content.replace("#include <malloc.h>", "")
content = content.replace(
"suitesparse/cholmod_core.h", "suitesparse/cholmod.h"
)
content = content.replace(
"// mrcal_point3_t *c_observations_point_pool = observations_point;",
"mrcal_point3_t *c_observations_point_pool = observations_point;",

1
wpical/.styleguide
View File

@@ -9,6 +9,7 @@ cppSrcFileInclude {
}
generatedFileExclude {
src/main/native/assets/
src/main/native/resources/
src/main/native/thirdparty/
src/main/native/win/wpical.ico

7
wpical/CMakeLists.txt
View File

@@ -83,12 +83,17 @@ target_compile_options(wpical PRIVATE ${compile_flags})
find_package(OpenCV REQUIRED)
find_package(Ceres CONFIG REQUIRED)
find_package(CHOLMOD CONFIG REQUIRED)
find_package(SuiteSparse_config CONFIG REQUIRED)
target_link_libraries(
wpical
apriltag
${OpenCV_LIBS}
wpigui
wpiutil
SuiteSparse::CHOLMOD_static
SuiteSparse::SuiteSparseConfig_static
Ceres::ceres
)
@@ -124,6 +129,8 @@ if(WITH_TESTS)
${OpenCV_LIBS}
wpigui
wpiutil
SuiteSparse::CHOLMOD_static
SuiteSparse::SuiteSparseConfig_static
Ceres::ceres
)
endif()

732
wpical/WPICalThirdPartyNotices.txt Normal file
View File

@@ -0,0 +1,732 @@
==============================================================================
Copyrights and Licenses for Third Party Software Distributed with WPICal
==============================================================================
The WPICal software contains code written by third parties. The copyrights,
license, and restrictions which apply to each piece of software is included
later in this file and/or inside of the individual applicable source files.
The disclaimer of warranty in the WPILib license above applies to all code in
WPILib, including WPICal and nothing in any of the other licenses gives
permission to use the names of FIRST nor the names of the WPILib contributors
to endorse or promote products derived from this software.
The following pieces of software have additional or alternate copyrights,
licenses, and/or restrictions:
Program Locations
------- ---------
AMD https://github.com/wpilibsuite/thirdparty-ceres, https://github.com/DrTimothyAldenDavis/SuiteSparse
CAMD https://github.com/wpilibsuite/thirdparty-ceres, https://github.com/DrTimothyAldenDavis/SuiteSparse
CCOLAMD https://github.com/wpilibsuite/thirdparty-ceres, https://github.com/DrTimothyAldenDavis/SuiteSparse
Ceres https://github.com/wpilibsuite/thirdparty-ceres, https://github.com/ceres-solver/ceres-solver
CHOLMOD https://github.com/wpilibsuite/thirdparty-ceres, https://github.com/DrTimothyAldenDavis/SuiteSparse
OpenBLAS (non-Mac only) https://github.com/wpilibsuite/thirdparty-ceres, https://github.com/OpenMathLib/OpenBLAS
AMD, Copyright (c), 1996-2022, Timothy A. Davis,
Patrick R. Amestoy, and Iain S. Duff. All Rights Reserved.
Availability:
http://www.suitesparse.com
-------------------------------------------------------------------------------
AMD License: BSD 3-clause:
-------------------------------------------------------------------------------
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the organizations to which the authors are
affiliated, nor the names of its contributors may be used to endorse
or promote products derived from this software without specific prior
written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
DAMAGE.
CAMD, Copyright (c) by Timothy A. Davis,
Yanqing Chen,
Patrick R. Amestoy, and Iain S. Duff. All Rights Reserved.
CAMD is available under alternate licenses, contact T. Davis for details.
Availability:
http://www.suitesparse.com
-------------------------------------------------------------------------------
CAMD License: BSD 3-clause:
-------------------------------------------------------------------------------
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the organizations to which the authors are
affiliated, nor the names of its contributors may be used to endorse
or promote products derived from this software without specific prior
written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
DAMAGE.
CCOLAMD: constrained column approximate minimum degree ordering
Copyright (C) 2005-2016, Univ. of Florida. Authors: Timothy A. Davis,
Sivasankaran Rajamanickam, and Stefan Larimore. Closely based on COLAMD by
Davis, Stefan Larimore, in collaboration with Esmond Ng, and John Gilbert.
http://www.suitesparse.com
--------------------------------------------------------------------------------
CCOLAMD license: BSD 3-clause:
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the organizations to which the authors are
affiliated, nor the names of its contributors may be used to endorse
or promote products derived from this software without specific prior
written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
DAMAGE.
Ceres Solver - A fast non-linear least squares minimizer
Copyright 2023 Google Inc. All rights reserved.
http://ceres-solver.org/
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the name of Google Inc. nor the names of its contributors may be
used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
----------------------------------------------------------------------------------------------------------------------------
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--------------------------------------------------------------------------------
==> Check/License.txt <==
--------------------------------------------------------------------------------
CHOLMOD/Check Module. Copyright (C) 2005-2022, Timothy A. Davis CHOLMOD is
also available under other licenses; contact authors for details.
http://www.suitesparse.com
Note that this license is for the CHOLMOD/Check module only.
All CHOLMOD modules are licensed separately.
----------------------------------------------------------------------------
This Module is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This Module is distributed in the hope that it will be useful,
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
--------------------------------------------------------------------------------
==> Cholesky/License.txt <==
--------------------------------------------------------------------------------
CHOLMOD/Cholesky module, Copyright (C) 2005-2022, Timothy A. Davis.
CHOLMOD is also available under other licenses; contact authors for
details. http://www.suitesparse.com
Note that this license is for the CHOLMOD/Cholesky module only.
All CHOLMOD modules are licensed separately.
----------------------------------------------------------------------------
This Module is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This Module is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this Module; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
--------------------------------------------------------------------------------
==> Utility/License.txt <==
--------------------------------------------------------------------------------
CHOLMOD/Utility Module. Copyright (C) 2023, Timothy A. Davis, All Rights
Reserved. CHOLMOD is also available under other licenses; contact authors
for details. http://www.suitesparse.com
----------------------------------------------------------------------------
This Module is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This Module is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this Module; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
--------------------------------------------------------------------------------
==> Demo/License.txt <==
--------------------------------------------------------------------------------
CHOLMOD/Demo Module. Copyright (C) 2005-2022, Timothy A. Davis. CHOLMOD
is also available under other licenses; contact authors for details.
http://www.suitesparse.com
Note that this license is for the CHOLMOD/Demo module only.
All CHOLMOD modules are licensed separately.
----------------------------------------------------------------------------
This Module is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
This Module is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this Module; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
--------------------------------------------------------------------------------
==> MATLAB/License.txt <==
--------------------------------------------------------------------------------
CHOLMOD/MATLAB Module. Copyright (C) 2005-2022, Timothy A. Davis. CHOLMOD
is also available under other licenses; contact authors for details.
MATLAB(tm) is a Registered Trademark of The MathWorks, Inc.
http://www.suitesparse.com
Note that this license is for the CHOLMOD/MATLAB module only.
All CHOLMOD modules are licensed separately.
----------------------------------------------------------------------------
This Module is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
This Module is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this Module; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
--------------------------------------------------------------------------------
==> MatrixOps/License.txt <==
--------------------------------------------------------------------------------
CHOLMOD/MatrixOps Module. Copyright (C) 2005-2022, Timothy A. Davis.
CHOLMOD is also available under other licenses; contact authors for
details. http://www.suitesparse.com
Note that this license is for the CHOLMOD/MatrixOps module only.
All CHOLMOD modules are licensed separately.
----------------------------------------------------------------------------
This Module is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
This Module is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this Module; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
--------------------------------------------------------------------------------
==> Modify/License.txt <==
--------------------------------------------------------------------------------
CHOLMOD/Modify Module. Copyright (C) 2005-2022, Timothy A. Davis and
William W. Hager. CHOLMOD is also available under other licenses; contact
authors for details. http://www.suitesparse.com
Note that this license is for the CHOLMOD/Modify module only.
All CHOLMOD modules are licensed separately.
----------------------------------------------------------------------------
This Module is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
This Module is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this Module; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
--------------------------------------------------------------------------------
==> Partition/License.txt <==
--------------------------------------------------------------------------------
CHOLMOD/Partition Module.
Copyright (C) 2005-2022, Univ. of Florida. Author: Timothy A. Davis
CHOLMOD is also available under other licenses; contact authors for details.
http://www.suitesparse.com
Note that this license is for the CHOLMOD/Partition module only.
All CHOLMOD modules are licensed separately.
----------------------------------------------------------------------------
This Module is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This Module is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this Module; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
--------------------------------------------------------------------------------
==> Supernodal/License.txt <==
--------------------------------------------------------------------------------
CHOLMOD/Supernodal Module.
Copyright (C) 2005-2022, Timothy A. Davis
CHOLMOD is also available under other licenses; contact authors for details.
http://www.suitesparse.com
Note that this license is for the CHOLMOD/Supernodal module only.
All CHOLMOD modules are licensed separately.
----------------------------------------------------------------------------
This Module is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
This Module is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this Module; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
--------------------------------------------------------------------------------
==> Tcov/License.txt <==
--------------------------------------------------------------------------------
CHOLMOD/Tcov Module. Copyright (C) 2005-2022, Timothy A. Davis
CHOLMOD is also available under other licenses; contact authors for details.
http://www.suitesparse.com
Note that this license is for the CHOLMOD/Tcov module only.
All CHOLMOD modules are licensed separately.
----------------------------------------------------------------------------
This Module is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
This Module is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this Module; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
COLAMD, Copyright 1998-2022, Timothy A. Davis. http://www.suitesparse.com
http://www.suitesparse.com
--------------------------------------------------------------------------------
COLAMD License: BSD 3-clause
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the organizations to which the authors are
affiliated, nor the names of its contributors may be used to endorse
or promote products derived from this software without specific prior
written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
DAMAGE.
Copyright (c) 2011-2014, The OpenBLAS Project
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are
met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in
the documentation and/or other materials provided with the
distribution.
3. Neither the name of the OpenBLAS project nor the names of
its contributors may be used to endorse or promote products
derived from this software without specific prior written
permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

20
wpical/build.gradle
View File

@@ -1,6 +1,6 @@
import org.gradle.internal.os.OperatingSystem
if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxsystemcore') || project.hasProperty('onlylinuxarm32') || project.hasProperty('onlylinuxarm64')) {
if (project.hasProperty('onlylinuxsystemcore')) {
return;
}
@@ -120,7 +120,7 @@ nativeUtils.platformConfigs.each {
it.cppCompiler.args.add("-fpermissive")
}
}
def testResources = "\"$rootDir/wpical/src/main/native/resources\"".replace("\\", "/")
def testResources = "\"$rootDir/wpical/src/main/native/assets\"".replace("\\", "/")
model {
components {
"${nativeName}"(NativeExecutableSpec) {
@@ -152,16 +152,18 @@ model {
}
}
binaries.all {
if (it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore || it.targetPlatform.name.startsWith("linuxarm")) {
if (it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
it.buildable = false
return
}
lib project: ':apriltag', library: 'apriltag', linkage: 'static'
lib project: ':wpimath', library: 'wpimath', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
lib project: ':apriltag', library: 'apriltag', linkage: 'static'
nativeUtils.useRequiredLibrary(it, 'ceres')
nativeUtils.useRequiredLibrary(it, 'opencv_static')
it.cppCompiler.define 'OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT'
it.cppCompiler.define 'GLOG_USE_GLOG_EXPORT'
if (it.targetPlatform.operatingSystem.isWindows()) {
it.cppCompiler.define('GLOG_DEPRECATED', '__declspec(deprecated)')
@@ -175,7 +177,7 @@ model {
} else if (it.targetPlatform.operatingSystem.isMacOsX()) {
it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore' << '-framework' << 'Accelerate'
} else {
it.linker.args << '-lX11' << "-lgfortran"
it.linker.args << '-lX11'
if (it.targetPlatform.name.startsWith('linuxarm')) {
it.linker.args << '-lGL'
}
@@ -203,16 +205,18 @@ model {
}
}
binaries.all {
if (it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore || it.targetPlatform.name.startsWith("linuxarm")) {
if (it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
it.buildable = false
return
}
lib project: ':apriltag', library: 'apriltag', linkage: 'static'
lib project: ':wpimath', library: 'wpimath', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
lib project: ':apriltag', library: 'apriltag', linkage: 'static'
nativeUtils.useRequiredLibrary(it, 'ceres')
nativeUtils.useRequiredLibrary(it, 'opencv_static')
it.cppCompiler.define 'OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT'
it.cppCompiler.define('PROJECT_ROOT_PATH', testResources)
it.cppCompiler.define 'GLOG_USE_GLOG_EXPORT'
if (it.targetPlatform.name == nativeUtils.wpi.platforms.windowsarm64) {
@@ -236,7 +240,7 @@ model {
} else if (it.targetPlatform.operatingSystem.isMacOsX()) {
it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore' << '-framework' << 'Accelerate'
} else {
it.linker.args << '-lX11' << '-lgfortran'
it.linker.args << '-lX11'
if (it.targetPlatform.name.startsWith('linuxarm')) {
it.linker.args << '-lGL'
}

4
wpical/publish.gradle
View File

@@ -42,6 +42,10 @@ model {
into '/'
}
from(file("$rootDir/wpical/WPICalThirdPartyNotices.txt")) {
into '/'
}
if (binary.targetPlatform.operatingSystem.isWindows()) {
def exePath = binary.executable.file.absolutePath
exePath = exePath.substring(0, exePath.length() - 4)

0
wpical/src/main/native/resources/2024-crescendo.json → wpical/src/main/native/assets/2024-crescendo.json
View File

0
wpical/src/main/native/resources/altfieldvideo/long.avi → wpical/src/main/native/assets/altfieldvideo/long.avi
View File

0
wpical/src/main/native/resources/altfieldvideo/short.avi → wpical/src/main/native/assets/altfieldvideo/short.avi
View File

0
wpical/src/main/native/resources/fieldvideo/long.mp4 → wpical/src/main/native/assets/fieldvideo/long.mp4
View File

0
wpical/src/main/native/resources/fieldvideo/short.mp4 → wpical/src/main/native/assets/fieldvideo/short.mp4
View File

0
wpical/src/main/native/resources/lifecam_1280p_10x10.vnl → wpical/src/main/native/assets/lifecam_1280p_10x10.vnl
View File

0
wpical/src/main/native/resources/testcalibration.avi → wpical/src/main/native/assets/testcalibration.avi
View File

0
wpical/src/main/native/resources/testcalibration.mp4 → wpical/src/main/native/assets/testcalibration.mp4
View File

2
wpical/src/main/native/cpp/tagpose.cpp
View File

@@ -3,7 +3,9 @@
// the WPILib BSD license file in the root directory of this project.
#include <tagpose.h>
#include <wpi/deprecated.h>
WPI_IGNORE_DEPRECATED
namespace tag {
Pose::Pose(int tag_id, double xpos, double ypos, double zpos, double w,
double x, double y, double z, double field_length_meters,

2
wpical/src/main/native/thirdparty/mrcal_java/include/mrcal_wrapper.h vendored
View File

@@ -24,7 +24,7 @@ extern "C" {
// Seems like these people don't properly extern-c their headers either
extern "C" {
#include <suitesparse/SuiteSparse_config.h>
#include <suitesparse/cholmod_core.h>
#include <suitesparse/cholmod.h>
} // extern "C"
#include <memory>

3
wpical/src/test/native/cpp/test_calibrate.cpp
View File

@@ -12,8 +12,7 @@
const std::string projectRootPath = PROJECT_ROOT_PATH;
const std::string calSavePath =
projectRootPath.substr(0,
projectRootPath.find("/src/main/native/resources")) +
projectRootPath.substr(0, projectRootPath.find("/src/main/native/assets")) +
"/build";
cameracalibration::CameraModel cameraModel = {
.intrinsic_matrix = Eigen::Matrix<double, 3, 3>::Identity(),

8
wpigui/src/main/native/cpp/wpigui.cpp
View File

@@ -169,6 +169,14 @@ void gui::DestroyContext() {
gContext = nullptr;
}
Context* gui::GetCurrentContext() {
return gContext;
}
void gui::SetCurrentContext(Context* context) {
gContext = context;
}
static void UpdateFontScale() {
// Scale based on OS window content scaling
float windowScale = 1.0;

16
wpigui/src/main/native/include/wpigui.h
View File

@@ -14,6 +14,8 @@ extern "C" struct GLFWwindow;
namespace wpi::gui {
struct Context;
/**
* Creates GUI context. Must be called prior to calling any other functions.
*/
@@ -24,6 +26,20 @@ void CreateContext();
*/
void DestroyContext();
/**
* Gets GUI context.
*
* @return context
*/
Context* GetCurrentContext();
/**
* Sets GUI context.
*
* @param context context
*/
void SetCurrentContext(Context* context);
/**
* Initializes the GUI.
*

6
wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
View File

@@ -372,7 +372,11 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
//
// Kᵀ = Sᵀ.solve(CPᵀ)
// K = (Sᵀ.solve(CPᵀ))ᵀ
final Matrix<States, Rows> K = S.transpose().solve(C.times(m_P.transpose())).transpose();
//
// Drop the transposes on symmetric matrices S and P.
//
// K = (S.solve(CP))ᵀ
final Matrix<States, Rows> K = S.solve(C.times(m_P)).transpose();
// x̂ₖ₊₁⁺ = x̂ₖ₊₁⁻ + K(y − h(x̂ₖ₊₁⁻, uₖ₊₁))
m_xHat = addFuncX.apply(m_xHat, K.times(residualFuncY.apply(y, h.apply(m_xHat, u))));

6
wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
View File

@@ -230,7 +230,11 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
//
// Kᵀ = Sᵀ.solve(CPᵀ)
// K = (Sᵀ.solve(CPᵀ))ᵀ
final Matrix<States, Outputs> K = S.transpose().solve(C.times(m_P.transpose())).transpose();
//
// Drop the transposes on symmetric matrices S and P.
//
// K = (S.solve(CP))ᵀ
final Matrix<States, Outputs> K = S.solve(C.times(m_P)).transpose();
// x̂ₖ₊₁⁺ = x̂ₖ₊₁⁻ + K(y − (Cx̂ₖ₊₁⁻ + Duₖ₊₁))
m_xHat = m_xHat.plus(K.times(y.minus(C.times(m_xHat).plus(D.times(u)))));

8
wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java
View File

@@ -100,9 +100,11 @@ public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Out
//
// Kᵀ = Sᵀ.solve(CPᵀ)
// K = (Sᵀ.solve(CPᵀ))ᵀ
m_K =
new Matrix<>(
S.transpose().getStorage().solve(C.times(P.transpose()).getStorage()).transpose());
//
// Drop the transposes on symmetric matrices S and P.
//
// K = (S.solve(CP))ᵀ
m_K = new Matrix<>(S.getStorage().solve(C.times(P).getStorage()).transpose());
reset();
}

50
wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java
View File

@@ -109,6 +109,22 @@ public class Translation2d
return Math.hypot(other.m_x - m_x, other.m_y - m_y);
}
/**
* Calculates the square of the distance between two translations in 2D space. This is equivalent
* to squaring the result of {@link #getDistance(Translation2d)}, but avoids computing a square
* root.
*
* <p>The square of the distance between translations is defined as (x₂−x₁)²+(y₂−y₁)².
*
* @param other The translation to compute the squared distance to.
* @return The square of the distance between the two translations, in square meters.
*/
public double getSquaredDistance(Translation2d other) {
double dx = other.m_x - m_x;
double dy = other.m_y - m_y;
return dx * dx + dy * dy;
}
/**
* Returns the X component of the translation.
*
@@ -165,6 +181,16 @@ public class Translation2d
return Math.hypot(m_x, m_y);
}
/**
* Returns the squared norm, or squared distance from the origin to the translation. This is
* equivalent to squaring the result of {@link #getNorm()}, but avoids computing a square root.
*
* @return The squared norm of the translation, in square meters.
*/
public double getSquaredNorm() {
return m_x * m_x + m_y * m_y;
}
/**
* Returns the angle this translation forms with the positive X axis.
*
@@ -214,6 +240,30 @@ public class Translation2d
(m_x - other.getX()) * rot.getSin() + (m_y - other.getY()) * rot.getCos() + other.getY());
}
/**
* Computes the dot product between this translation and another translation in 2D space.
*
* <p>The dot product between two translations is defined as x₁x₂+y₁y₂.
*
* @param other The translation to compute the dot product with.
* @return The dot product between the two translations, in square meters.
*/
public double dot(Translation2d other) {
return m_x * other.m_x + m_y * other.m_y;
}
/**
* Computes the cross product between this translation and another translation in 2D space.
*
* <p>The 2D cross product between two translations is defined as x₁y₂-x₂y₁.
*
* @param other The translation to compute the cross product with.
* @return The cross product between the two translations, in square meters.
*/
public double cross(Translation2d other) {
return m_x * other.m_y - m_y * other.m_x;
}
/**
* Returns the sum of two translations in 2D space.
*

61
wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java
View File

@@ -125,8 +125,26 @@ public class Translation3d
* @return The distance between the two translations.
*/
public double getDistance(Translation3d other) {
return Math.sqrt(
Math.pow(other.m_x - m_x, 2) + Math.pow(other.m_y - m_y, 2) + Math.pow(other.m_z - m_z, 2));
double dx = other.m_x - m_x;
double dy = other.m_y - m_y;
double dz = other.m_z - m_z;
return Math.sqrt(dx * dx + dy * dy + dz * dz);
}
/**
* Calculates the squared distance between two translations in 3D space. This is equivalent to
* squaring the result of {@link #getDistance(Translation3d)}, but avoids computing a square root.
*
* <p>The squared distance between translations is defined as (x₂−x₁)²+(y₂−y₁)²+(z₂−z₁)².
*
* @param other The translation to compute the squared distance to.
* @return The squared distance between the two translations.
*/
public double getSquaredDistance(Translation3d other) {
double dx = other.m_x - m_x;
double dy = other.m_y - m_y;
double dz = other.m_z - m_z;
return dx * dx + dy * dy + dz * dz;
}
/**
@@ -204,6 +222,16 @@ public class Translation3d
return Math.sqrt(m_x * m_x + m_y * m_y + m_z * m_z);
}
/**
* Returns the squared norm, or squared distance from the origin to the translation. This is
* equivalent to squaring the result of {@link #getNorm()}, but avoids computing a square root.
*
* @return The squared norm of the translation.
*/
public double getSquaredNorm() {
return m_x * m_x + m_y * m_y + m_z * m_z;
}
/**
* Applies a rotation to the translation in 3D space.
*
@@ -230,6 +258,35 @@ public class Translation3d
return this.minus(other).rotateBy(rot).plus(other);
}
/**
* Computes the dot product between this translation and another translation in 3D space.
*
* <p>The dot product between two translations is defined as x₁x₂+y₁y₂+z₁z₂.
*
* @param other The translation to compute the dot product with.
* @return The dot product between the two translations, in square meters.
*/
public double dot(Translation3d other) {
return m_x * other.m_x + m_y * other.m_y + m_z * other.m_z;
}
/**
* Computes the cross product between this translation and another translation in 3D space. The
* resulting translation will be perpendicular to both translations.
*
* <p>The 3D cross product between two translations is defined as &lt;y₁z₂-y₂z₁, z₁x₂-z₂x₁,
* x₁y₂-x₂y₁&gt;.
*
* @param other The translation to compute the cross product with.
* @return The cross product between the two translations.
*/
public Vector<N3> cross(Translation3d other) {
return VecBuilder.fill(
m_y * other.m_z - other.m_y * m_z,
m_z * other.m_x - other.m_z * m_x,
m_x * other.m_y - other.m_x * m_y);
}
/**
* Returns a Translation2d representing this Translation3d projected into the X-Y plane.
*

6
wpimath/src/main/native/include/frc/DARE.h
View File

@@ -128,7 +128,11 @@ Eigen::Matrix<double, States, States> DARE(
//
// V₂ᵀ = W.solve(Gₖᵀ)
// V₂ = W.solve(Gₖᵀ)ᵀ
StateMatrix V_2 = W_solver.solve(G_k.transpose()).transpose();
//
// Since W, Gₖ, and Hₖ are symmetric, drop the transposes on Gₖ and V₂.
//
// V₂ = W.solve(Gₖ)
StateMatrix V_2 = W_solver.solve(G_k);
// Gₖ₊₁ = Gₖ + AₖV₂Aₖᵀ
// Hₖ₊₁ = Hₖ + V₁ᵀHₖAₖ

7
wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
View File

@@ -397,8 +397,11 @@ class ExtendedKalmanFilter {
//
// Kᵀ = Sᵀ.solve(CPᵀ)
// K = (Sᵀ.solve(CPᵀ))ᵀ
Matrixd<States, Rows> K =
S.transpose().ldlt().solve(C * m_P.transpose()).transpose();
//
// Drop the transposes on symmetric matrices S and P.
//
// K = (S.solve(CP))ᵀ
Matrixd<States, Rows> K = S.ldlt().solve(C * m_P).transpose();
// x̂ₖ₊₁⁺ = x̂ₖ₊₁⁻ + Kₖ₊₁(y − h(x̂ₖ₊₁⁻, uₖ₊₁))
m_xHat = addFuncX(m_xHat, K * residualFuncY(y, h(m_xHat, u)));

7
wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
View File

@@ -235,8 +235,11 @@ class KalmanFilter {
//
// Kᵀ = Sᵀ.solve(CPᵀ)
// K = (Sᵀ.solve(CPᵀ))ᵀ
Matrixd<States, Outputs> K =
S.transpose().ldlt().solve(C * m_P.transpose()).transpose();
//
// Drop the transposes on symmetric matrices S and P.
//
// K = (S.solve(CP))ᵀ
Matrixd<States, Outputs> K = S.ldlt().solve(C * m_P).transpose();
// x̂ₖ₊₁⁺ = x̂ₖ₊₁⁻ + K(y − (Cx̂ₖ₊₁⁻ + Duₖ₊₁))
m_xHat += K * (y - (C * m_xHat + D * u));

6
wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h
View File

@@ -114,7 +114,11 @@ class SteadyStateKalmanFilter {
//
// Kᵀ = Sᵀ.solve(CPᵀ)
// K = (Sᵀ.solve(CPᵀ))ᵀ
m_K = S.transpose().ldlt().solve(C * P.value().transpose()).transpose();
//
// Drop the transposes on symmetric matrices S and P.
//
// K = (S.solve(CP))ᵀ
m_K = S.ldlt().solve(C * P.value()).transpose();
} else if (P.error() == DAREError::QNotSymmetric ||
P.error() == DAREError::QNotPositiveSemidefinite) {
std::string msg =

55
wpimath/src/main/native/include/frc/geometry/Translation2d.h
View File

@@ -13,6 +13,7 @@
#include <wpi/json_fwd.h>
#include "frc/geometry/Rotation2d.h"
#include "units/area.h"
#include "units/length.h"
#include "units/math.h"
@@ -75,6 +76,23 @@ class WPILIB_DLLEXPORT Translation2d {
return units::math::hypot(other.m_x - m_x, other.m_y - m_y);
}
/**
* Calculates the square of the distance between two translations in 2D space.
* This is equivalent to squaring the result of Distance(Translation2d), but
* avoids computing a square root.
*
* The square of the distance between translations is defined as
* (x₂−x₁)²+(y₂−y₁)².
*
* @param other The translation to compute the squared distance to.
* @return The square of the distance between the two translations.
*/
constexpr units::square_meter_t SquaredDistance(
const Translation2d& other) const {
return units::math::pow<2>(other.m_x - m_x) +
units::math::pow<2>(other.m_y - m_y);
}
/**
* Returns the X component of the translation.
*
@@ -105,6 +123,17 @@ class WPILIB_DLLEXPORT Translation2d {
*/
constexpr units::meter_t Norm() const { return units::math::hypot(m_x, m_y); }
/**
* Returns the squared norm, or squared distance from the origin to the
* translation. This is equivalent to squaring the result of Norm(), but
* avoids computing a square root.
*
* @return The squared norm of the translation.
*/
constexpr units::square_meter_t SquaredNorm() const {
return units::math::pow<2>(m_x) + units::math::pow<2>(m_y);
}
/**
* Returns the angle this translation forms with the positive X axis.
*
@@ -157,6 +186,32 @@ class WPILIB_DLLEXPORT Translation2d {
other.Y()};
}
/**
* Computes the dot product between this translation and another translation
* in 2D space.
*
* The dot product between two translations is defined as x₁x₂+y₁y₂.
*
* @param other The translation to compute the dot product with.
* @return The dot product between the two translations.
*/
constexpr units::square_meter_t Dot(const Translation2d& other) const {
return m_x * other.X() + m_y * other.Y();
}
/**
* Computes the cross product between this translation and another translation
* in 2D space.
*
* The 2D cross product between two translations is defined as x₁y₂-x₂y₁.
*
* @param other The translation to compute the cross product with.
* @return The cross product between the two translations.
*/
constexpr units::square_meter_t Cross(const Translation2d& other) const {
return m_x * other.Y() - m_y * other.X();
}
/**
* Returns the sum of two translations in 2D space.
*

62
wpimath/src/main/native/include/frc/geometry/Translation3d.h
View File

@@ -14,6 +14,7 @@
#include "frc/geometry/Rotation3d.h"
#include "frc/geometry/Translation2d.h"
#include "units/area.h"
#include "units/length.h"
#include "units/math.h"
@@ -96,6 +97,24 @@ class WPILIB_DLLEXPORT Translation3d {
units::math::pow<2>(other.m_z - m_z));
}
/**
* Calculates the squared distance between two translations in 3D space. This
* is equivalent to squaring the result of Distance(Translation3d), but avoids
* computing a square root.
*
* The squared distance between translations is defined as
* (x₂−x₁)²+(y₂−y₁)²+(z₂−z₁)².
*
* @param other The translation to compute the squared distance to.
* @return The squared distance between the two translations.
*/
constexpr units::square_meter_t SquaredDistance(
const Translation3d& other) const {
return units::math::pow<2>(other.m_x - m_x) +
units::math::pow<2>(other.m_y - m_y) +
units::math::pow<2>(other.m_z - m_z);
}
/**
* Returns the X component of the translation.
*
@@ -135,6 +154,17 @@ class WPILIB_DLLEXPORT Translation3d {
return units::math::sqrt(m_x * m_x + m_y * m_y + m_z * m_z);
}
/**
* Returns the squared norm, or squared distance from the origin to the
* translation. This is equivalent to squaring the result of Norm(), but
* avoids computing a square root.
*
* @return The squared norm of the translation.
*/
constexpr units::square_meter_t SquaredNorm() const {
return m_x * m_x + m_y * m_y + m_z * m_z;
}
/**
* Applies a rotation to the translation in 3D space.
*
@@ -164,6 +194,38 @@ class WPILIB_DLLEXPORT Translation3d {
return (*this - other).RotateBy(rot) + other;
}
/**
* Computes the dot product between this translation and another translation
* in 3D space.
*
* The dot product between two translations is defined as x₁x₂+y₁y₂+z₁z₂.
*
* @param other The translation to compute the dot product with.
* @return The dot product between the two translations.
*/
constexpr units::square_meter_t Dot(const Translation3d& other) const {
return m_x * other.X() + m_y * other.Y() + m_z * other.Z();
}
/**
* Computes the cross product between this translation and another
* translation in 3D space. The resulting translation will be perpendicular to
* both translations.
*
* The 3D cross product between two translations is defined as <y₁z₂-y₂z₁,
* z₁x₂-z₂x₁, x₁y₂-x₂y₁>.
*
* @param other The translation to compute the cross product with.
* @return The cross product between the two translations.
*/
constexpr Eigen::Vector<units::square_meter_t, 3> Cross(
const Translation3d& other) const {
return Eigen::Vector<units::square_meter_t, 3>{
{m_y * other.Z() - other.Y() * m_z},
{m_z * other.X() - other.Z() * m_x},
{m_x * other.Y() - other.X() * m_y}};
}
/**
* Returns a Translation2d representing this Translation3d projected into the
* X-Y plane.

13
wpimath/src/main/native/include/units/math.h
View File

@@ -482,11 +482,10 @@ constexpr dimensionless::scalar_t log2(const ScalarUnit x) noexcept {
template <
class UnitType,
std::enable_if_t<units::traits::has_linear_scale<UnitType>::value, int> = 0>
inline constexpr auto sqrt(const UnitType& value) noexcept
-> unit_t<
square_root<typename units::traits::unit_t_traits<UnitType>::unit_type>,
typename units::traits::unit_t_traits<UnitType>::underlying_type,
linear_scale> {
inline constexpr auto sqrt(const UnitType& value) noexcept -> unit_t<
square_root<typename units::traits::unit_t_traits<UnitType>::unit_type>,
typename units::traits::unit_t_traits<UnitType>::underlying_type,
linear_scale> {
return unit_t<
square_root<typename units::traits::unit_t_traits<UnitType>::unit_type>,
typename units::traits::unit_t_traits<UnitType>::underlying_type,
@@ -742,8 +741,8 @@ template <class UnitTypeLhs, class UnitMultiply, class UnitAdd,
class = std::enable_if_t<traits::is_unit_t<UnitTypeLhs>::value &&
traits::is_unit_t<UnitMultiply>::value &&
traits::is_unit_t<UnitAdd>::value>>
auto fma(const UnitTypeLhs x, const UnitMultiply y,
const UnitAdd z) noexcept -> decltype(x * y) {
auto fma(const UnitTypeLhs x, const UnitMultiply y, const UnitAdd z) noexcept
-> decltype(x * y) {
using resultType = decltype(x * y);
static_assert(
traits::is_convertible_unit_t<

7
wpimath/src/main/native/thirdparty/eigen/include/Eigen/Dense vendored Normal file
View File

@@ -0,0 +1,7 @@
#include "Core"
#include "LU"
#include "Cholesky"
#include "QR"
#include "SVD"
#include "Geometry"
#include "Eigenvalues"

30
wpimath/src/main/native/thirdparty/eigen/include/Eigen/StdVector vendored Normal file
View File

@@ -0,0 +1,30 @@
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#ifndef EIGEN_STDVECTOR_MODULE_H
#define EIGEN_STDVECTOR_MODULE_H
#include "Core"
#include <vector>
#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && \
(EIGEN_MAX_STATIC_ALIGN_BYTES <= 16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */
#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...)
#else
// IWYU pragma: begin_exports
#include "src/StlSupport/StdVector.h"
// IWYU pragma: end_exports
#endif
#endif // EIGEN_STDVECTOR_MODULE_H

51
wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/StlSupport/StdVector.h vendored Normal file
View File

@@ -0,0 +1,51 @@
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#ifndef EIGEN_STDVECTOR_H
#define EIGEN_STDVECTOR_H
#ifndef EIGEN_STDVECTOR_MODULE_H
#error "Please include Eigen/StdVector instead of including this file directly."
#endif
#include "details.h"
/**
* This section contains a convenience MACRO which allows an easy specialization of
* std::vector such that for data types with alignment issues the correct allocator
* is used automatically.
*/
#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...) \
namespace std { \
template <> \
class vector<__VA_ARGS__, std::allocator<__VA_ARGS__> > \
: public vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > { \
typedef vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > vector_base; \
\
public: \
typedef __VA_ARGS__ value_type; \
typedef vector_base::allocator_type allocator_type; \
typedef vector_base::size_type size_type; \
typedef vector_base::iterator iterator; \
explicit vector(const allocator_type& a = allocator_type()) : vector_base(a) {} \
template <typename InputIterator> \
vector(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
: vector_base(first, last, a) {} \
vector(const vector& c) : vector_base(c) {} \
explicit vector(size_type num, const value_type& val = value_type()) : vector_base(num, val) {} \
vector(iterator start_, iterator end_) : vector_base(start_, end_) {} \
vector& operator=(const vector& x) { \
vector_base::operator=(x); \
return *this; \
} \
}; \
}
#endif // EIGEN_STDVECTOR_H

82
wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/StlSupport/details.h vendored Normal file
View File

@@ -0,0 +1,82 @@
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#ifndef EIGEN_STL_DETAILS_H
#define EIGEN_STL_DETAILS_H
#ifndef EIGEN_ALIGNED_ALLOCATOR
#define EIGEN_ALIGNED_ALLOCATOR Eigen::aligned_allocator
#endif
namespace Eigen {
// This one is needed to prevent reimplementing the whole std::vector.
template <class T>
class aligned_allocator_indirection : public EIGEN_ALIGNED_ALLOCATOR<T> {
public:
typedef std::size_t size_type;
typedef std::ptrdiff_t difference_type;
typedef T* pointer;
typedef const T* const_pointer;
typedef T& reference;
typedef const T& const_reference;
typedef T value_type;
template <class U>
struct rebind {
typedef aligned_allocator_indirection<U> other;
};
aligned_allocator_indirection() {}
aligned_allocator_indirection(const aligned_allocator_indirection&) : EIGEN_ALIGNED_ALLOCATOR<T>() {}
aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<T>&) {}
template <class U>
aligned_allocator_indirection(const aligned_allocator_indirection<U>&) {}
template <class U>
aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<U>&) {}
~aligned_allocator_indirection() {}
};
#if EIGEN_COMP_MSVC
// sometimes, MSVC detects, at compile time, that the argument x
// in std::vector::resize(size_t s,T x) won't be aligned and generate an error
// even if this function is never called. Whence this little wrapper.
#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) \
std::conditional_t<Eigen::internal::is_arithmetic<T>::value, T, Eigen::internal::workaround_msvc_stl_support<T> >
namespace internal {
template <typename T>
struct workaround_msvc_stl_support : public T {
inline workaround_msvc_stl_support() : T() {}
inline workaround_msvc_stl_support(const T& other) : T(other) {}
inline operator T&() { return *static_cast<T*>(this); }
inline operator const T&() const { return *static_cast<const T*>(this); }
template <typename OtherT>
inline T& operator=(const OtherT& other) {
T::operator=(other);
return *this;
}
inline workaround_msvc_stl_support& operator=(const workaround_msvc_stl_support& other) {
T::operator=(other);
return *this;
}
};
} // namespace internal
#else
#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) T
#endif
} // namespace Eigen
#endif // EIGEN_STL_DETAILS_H

27
wpimath/src/test/java/edu/wpi/first/math/geometry/Translation2dTest.java
View File

@@ -86,6 +86,12 @@ class Translation2dTest {
assertEquals(Math.hypot(3.0, 5.0), one.getNorm(), kEpsilon);
}
@Test
void testSquaredNorm() {
var one = new Translation2d(3.0, 5.0);
assertEquals(34.0, one.getSquaredNorm(), kEpsilon);
}
@Test
void testDistance() {
var one = new Translation2d(1, 1);
@@ -93,6 +99,13 @@ class Translation2dTest {
assertEquals(5.0 * Math.sqrt(2.0), one.getDistance(two), kEpsilon);
}
@Test
void testSquaredDistance() {
var one = new Translation2d(1, 1);
var two = new Translation2d(6, 6);
assertEquals(50.0, one.getSquaredDistance(two), kEpsilon);
}
@Test
void testUnaryMinus() {
var original = new Translation2d(-4.5, 7);
@@ -154,4 +167,18 @@ class Translation2dTest {
assertEquals(vec, translation.toVector());
}
@Test
void testDot() {
var one = new Translation2d(2.0, 3.0);
var two = new Translation2d(3.0, 4.0);
assertEquals(18.0, one.dot(two), kEpsilon);
}
@Test
void testCross() {
var one = new Translation2d(2.0, 3.0);
var two = new Translation2d(3.0, 4.0);
assertEquals(-1.0, one.cross(two), kEpsilon);
}
}

32
wpimath/src/test/java/edu/wpi/first/math/geometry/Translation3dTest.java
View File

@@ -149,6 +149,12 @@ class Translation3dTest {
assertEquals(Math.sqrt(83.0), one.getNorm(), kEpsilon);
}
@Test
void testSquaredNorm() {
var one = new Translation3d(3.0, 5.0, 7.0);
assertEquals(83.0, one.getSquaredNorm(), kEpsilon);
}
@Test
void testDistance() {
var one = new Translation3d(1.0, 1.0, 1.0);
@@ -156,6 +162,13 @@ class Translation3dTest {
assertEquals(5.0 * Math.sqrt(3.0), one.getDistance(two), kEpsilon);
}
@Test
void testSquaredDistance() {
var one = new Translation3d(1.0, 1.0, 1.0);
var two = new Translation3d(6.0, 6.0, 6.0);
assertEquals(75.0, one.getSquaredDistance(two), kEpsilon);
}
@Test
void testUnaryMinus() {
var original = new Translation3d(-4.5, 7.0, 9.0);
@@ -225,4 +238,23 @@ class Translation3dTest {
assertEquals(translation1, origin.nearest(List.of(translation1, translation2, translation3)));
assertEquals(translation2, origin.nearest(List.of(translation4, translation2, translation3)));
}
@Test
void testDot() {
var one = new Translation3d(1.0, 2.0, 3.0);
var two = new Translation3d(4.0, 5.0, 6.0);
assertEquals(32.0, one.dot(two));
}
@Test
void testCross() {
var one = new Translation3d(1.0, 2.0, 3.0);
var two = new Translation3d(4.0, 5.0, 6.0);
var cross = one.cross(two);
assertAll(
() -> assertEquals(-3.0, cross.get(0, 0), kEpsilon),
() -> assertEquals(6.0, cross.get(1, 0), kEpsilon),
() -> assertEquals(-3.0, cross.get(2, 0), kEpsilon));
}
}

23
wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp
View File

@@ -68,12 +68,23 @@ TEST(Translation2dTest, Norm) {
EXPECT_DOUBLE_EQ(std::hypot(3.0, 5.0), one.Norm().value());
}
TEST(Translation2dTest, SquaredNorm) {
const Translation2d one{3_m, 5_m};
EXPECT_DOUBLE_EQ(34.0, one.SquaredNorm().value());
}
TEST(Translation2dTest, Distance) {
const Translation2d one{1_m, 1_m};
const Translation2d two{6_m, 6_m};
EXPECT_DOUBLE_EQ(5.0 * std::sqrt(2.0), one.Distance(two).value());
}
TEST(Translation2dTest, SquaredDistance) {
const Translation2d one{1_m, 1_m};
const Translation2d two{6_m, 6_m};
EXPECT_DOUBLE_EQ(50.0, one.SquaredDistance(two).value());
}
TEST(Translation2dTest, UnaryMinus) {
const Translation2d original{-4.5_m, 7_m};
const auto inverted = -original;
@@ -162,3 +173,15 @@ TEST(Translation2dTest, Constexpr) {
static_assert(multiplied.X() == 2_m);
static_assert(divided.Y() == 1_m);
}
TEST(Translation2dTest, Dot) {
const Translation2d one{2_m, 3_m};
const Translation2d two{3_m, 4_m};
EXPECT_DOUBLE_EQ(18.0, one.Dot(two).value());
}
TEST(Translation2dTest, Cross) {
const Translation2d one{2_m, 3_m};
const Translation2d two{3_m, 4_m};
EXPECT_DOUBLE_EQ(-1.0, one.Cross(two).value());
}

27
wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp
View File

@@ -114,12 +114,23 @@ TEST(Translation3dTest, Norm) {
EXPECT_NEAR(one.Norm().value(), std::hypot(3, 5, 7), kEpsilon);
}
TEST(Translation3dTest, SquaredNorm) {
const Translation3d one{3_m, 5_m, 7_m};
EXPECT_NEAR(one.SquaredNorm().value(), 83.0, kEpsilon);
}
TEST(Translation3dTest, Distance) {
const Translation3d one{1_m, 1_m, 1_m};
const Translation3d two{6_m, 6_m, 6_m};
EXPECT_NEAR(one.Distance(two).value(), 5 * std::sqrt(3), kEpsilon);
}
TEST(Translation3dTest, SquaredDistance) {
const Translation3d one{1_m, 1_m, 1_m};
const Translation3d two{6_m, 6_m, 6_m};
EXPECT_NEAR(one.SquaredDistance(two).value(), 75.0, kEpsilon);
}
TEST(Translation3dTest, UnaryMinus) {
const Translation3d original{-4.5_m, 7_m, 9_m};
const auto inverted = -original;
@@ -214,3 +225,19 @@ TEST(Translation3dTest, Nearest) {
EXPECT_DOUBLE_EQ(nearest3.Y().value(), translation2.Y().value());
EXPECT_DOUBLE_EQ(nearest3.Z().value(), translation2.Z().value());
}
TEST(Translation3dTest, Dot) {
const Translation3d one{1_m, 2_m, 3_m};
const Translation3d two{4_m, 5_m, 6_m};
EXPECT_NEAR(one.Dot(two).value(), 32.0, kEpsilon);
}
TEST(Translation3dTest, Cross) {
const Translation3d one{1_m, 2_m, 3_m};
const Translation3d two{4_m, 5_m, 6_m};
auto cross = one.Cross(two);
EXPECT_NEAR(cross[0].value(), -3.0, kEpsilon);
EXPECT_NEAR(cross[1].value(), 6.0, kEpsilon);
EXPECT_NEAR(cross[2].value(), -3.0, kEpsilon);
}