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[wpimath] Improve Discretization internal docs (#4400)

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This commit is contained in:
Tyler Veness
2022-09-04 17:24:38 -07:00
committed by GitHub
parent 5149f7d894
commit f36162fddc
4 changed files with 166 additions and 48 deletions
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24
wpimath/src/test/java/edu/wpi/first/math/system/DiscretizationTest.java
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@@ -58,9 +58,9 @@ class DiscretizationTest {
assertEquals(x1Truth, x1Discrete);
}
// dt
// Test that the discrete approximation of Q ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
// T
// Test that the discrete approximation of Q_d ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
@Test
void testDiscretizeSlowModelAQ() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
@@ -68,6 +68,9 @@ class DiscretizationTest {
final double dt = 1.0;
// T
// Q_d = ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
final var discQIntegrated =
RungeKuttaTimeVarying.rungeKuttaTimeVarying(
(Double t, Matrix<N2, N2> x) ->
@@ -87,9 +90,9 @@ class DiscretizationTest {
+ discQIntegrated);
}
// dt
// Test that the discrete approximation of Q ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
// T
// Test that the discrete approximation of Q_d ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
@Test
void testDiscretizeFastModelAQ() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, -1406.29);
@@ -97,6 +100,9 @@ class DiscretizationTest {
final var dt = 0.005;
// T
// Q_d = ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
final var discQIntegrated =
RungeKuttaTimeVarying.rungeKuttaTimeVarying(
(Double t, Matrix<N2, N2> x) ->
@@ -130,6 +136,9 @@ class DiscretizationTest {
assertTrue(esCont.getEigenvalue(i).real >= 0);
}
// T
// Q_d = ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
final var discQIntegrated =
RungeKuttaTimeVarying.rungeKuttaTimeVarying(
(Double t, Matrix<N2, N2> x) ->
@@ -173,6 +182,9 @@ class DiscretizationTest {
assertTrue(esCont.getEigenvalue(i).real >= 0);
}
// T
// Q_d = ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
final var discQIntegrated =
RungeKuttaTimeVarying.rungeKuttaTimeVarying(
(Double t, Matrix<N2, N2> x) ->