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[wpilib] Clean up simulation physics API (#2739)

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Some vestigial functions were never removed, and C++ single-jointed arm
sim was missing a flag for disabling gravity simulation. This is useful
for mechanisms like turrets.

Fixes #2738.
This commit is contained in:
Tyler Veness
2020-09-27 00:13:59 -07:00
committed by GitHub
parent 17d3d2f754
commit fc991cb59c
5 changed files with 43 additions and 30 deletions
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20
wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
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@@ -37,17 +37,19 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
* @param addNoise Whether the sim should automatically add some
* encoder noise.
* @param measurementStdDevs The standard deviation of the measurement noise.
* @param simulateGravity If the affects of gravity should be simulated.
*/
SingleJointedArmSim(const LinearSystem<2, 1, 1>& system, const DCMotor motor,
double G, units::kilogram_t mass,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, bool addNoise,
const std::array<double, 1>& measurementStdDevs);
const std::array<double, 1>& measurementStdDevs,
bool simulateGravity);
/**
* Creates a simulated arm mechanism.
*
* @param motor The type and number of motors on the arm gearbox.
* @param j The moment of inertia of the arm.
* @param J The moment of inertia of the arm.
* @param G The gear ratio of the arm (numbers greater than 1
* represent reductions).
* @param mass The mass of the arm.
@@ -57,12 +59,14 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
* @param addNoise Whether the sim should automatically add some
* encoder noise.
* @param measurementStdDevs The standard deviation of the measurement noise.
* @param simulateGravity If the affects of gravity should be simulated.
*/
SingleJointedArmSim(const DCMotor& motor, units::kilogram_square_meter_t J,
double G, units::kilogram_t mass,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, bool addNoise,
const std::array<double, 1>& measurementStdDevs);
const std::array<double, 1>& measurementStdDevs,
bool simulateGravity);
/**
* Creates a simulated arm mechanism.
@@ -79,11 +83,13 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
* @param addNoise Whether the sim should automatically add some
* encoder noise.
* @param measurementStdDevs The standard deviation of the measurement noise.
* @param simulateGravity If the affects of gravity should be simulated.
*/
SingleJointedArmSim(const DCMotor& motor, double G, units::kilogram_t mass,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, bool addNoise,
const std::array<double, 1>& measurementStdDevs);
const std::array<double, 1>& measurementStdDevs,
bool simulateGravity);
/**
* Returns whether the arm has hit the lower limit.
@@ -115,6 +121,9 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
*/
units::radians_per_second_t GetVelocity() const;
units::ampere_t GetCurrentDraw() const override;
protected:
/**
* Updates the state estimate of the arm.
*
@@ -126,8 +135,6 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
const Eigen::Matrix<double, 2, 1>& currentXhat,
const Eigen::Matrix<double, 1, 1>& u, units::second_t dt) override;
units::ampere_t GetCurrentDraw() const override;
private:
units::meter_t m_r;
units::radian_t m_minAngle;
@@ -135,5 +142,6 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
units::kilogram_t m_mass;
const DCMotor m_motor;
double m_gearing;
bool m_simulateGravity;
};
} // namespace frc::sim