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Merge branch 'main' into 2027

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Peter Johnson
2025-09-25 22:03:55 -07:00
parent cf4f6ce4b6 6b8be313c7
commit ef676aca70
93 changed files with 941 additions and 387 deletions
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10
wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
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@@ -19,9 +19,9 @@ public final class NumericalIntegration {
}
/**
* Performs Runge Kutta integration (4th order).
* Performs 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
*
* @param f The function to integrate, which takes one argument x.
* @param f The function to integrate. It must take one argument x.
* @param x The initial value of x.
* @param dt The time over which to integrate in seconds.
* @return the integration of dx/dt = f(x) for dt.
@@ -37,13 +37,13 @@ public final class NumericalIntegration {
}
/**
* Performs Runge Kutta integration (4th order).
* Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.
*
* @param f The function to integrate. It must take two arguments x and u.
* @param x The initial value of x.
* @param u The value u held constant over the integration period.
* @param dt The time over which to integrate in seconds.
* @return The result of Runge Kutta integration (4th order).
* @return the integration of dx/dt = f(x, u) for dt.
*/
public static double rk4(DoubleBinaryOperator f, double x, double u, double dt) {
final var h = dt;
@@ -89,7 +89,7 @@ public final class NumericalIntegration {
* @param f The function to integrate. It must take one argument x.
* @param x The initial value of x.
* @param dt The time over which to integrate in seconds.
* @return 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
* @return the integration of dx/dt = f(x) for dt.
*/
public static <States extends Num> Matrix<States, N1> rk4(
UnaryOperator<Matrix<States, N1>> f, Matrix<States, N1> x, double dt) {