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04a781b4d7e37c3c4d0609b12af3e119a00a8cc1
Commit Graph

449 Commits

Author SHA1 Message Date
Bryce Roethel
87f7c19f90 [wpimath] Make InterpolatingDoubleTreeMap constructor public (#5865) 2023-11-03 15:34:14 -07:00
Tyler Veness
6b53ef47cf [wpimath] Don't recreate TrapezoidProfile in ProfiledPIDController calculate() (#5863) 2023-11-03 15:21:58 -07:00
Tyler Veness
ec569a58ef [wpimath] Make KalmanTypeFilter interface public (#5830) 2023-10-26 19:18:02 -07:00
Tyler Veness
98c14f1692 [wpimath] Add EKF/UKF u-y-R correct overload (#5832) 
Also clean up comments on other overloads and fix a typo.
 2023-10-26 19:17:15 -07:00
sciencewhiz
f4cbcbc984 Fix typos (NFC) (#5804) 2023-10-23 09:15:58 -07:00
Peter Johnson
cf54d9ccb7 [wpiutil, ntcore] Add structured data support (#5391) 
This adds support for two serialization formats for complex data types:

- Protobuf for complex objects with variable length internals that need forward and backward wire compatibility (lower speed, more flexible)
- Raw struct (ByteBuffer-style) for fixed-length objects (higher speed, less flexible)

Deserialization can be done either by creating a new object (for immutable objects) or overwriting the contents of an existing object (for mutable objects).

Implementing classes should provide inner classes that implement the Protobuf or Struct interface (in Java) or specialize the wpi::Protobuf or wpi::Struct struct (in C++). It is possible for classes to implement both. If the class itself does not implement serialization, it's possible for third parties/users to provide an implementation instead.

Uses the Google protobuf implementation for C++ and the QuickBuffers alternative protobuf implementation for Java.
 2023-10-19 21:41:47 -07:00
Jordan McMichael
ecb7cfa9ef [wpimath] Add Exponential motion profile (#5720) 2023-10-19 17:26:32 -07:00
Tyler Veness
02cbbc997d [wpimath] Make Vector-Vector binary operators return Vector (#5772) 
Fixes #5741.
 2023-10-17 16:44:30 -07:00
Brayden Zee
e814595ea7 [wpimath] Add ChassisSpeeds.fromRobotRelativeSpeeds() (#5744) 2023-10-17 10:13:04 -07:00
narmstro2020
f98c943445 [wpimath] LinearSystemId: Add DCMotorSystem overload (#5770) 
The goal of this addition is to allow LinearSystemId.createDCMotorSystem to use kV and KA instead of the moment of inertia, DCMotor object, and gearing.
 2023-10-17 10:11:34 -07:00
PJ Reiniger
210255bfff [wpiutil] Update json to 3.11.2 (#5680) 2023-10-14 21:53:56 -07:00
Jordan McMichael
896772c750 [wpimath] Add DCMotor functions for Kraken X60 and Neo Vortex (#5759) 2023-10-14 21:52:01 -07:00
Tyler Veness
fd427f6c82 [wpimath] Fix hardcoded module count in SwerveDriveKinematics.resetHeading() (#5762) 
Fixes #5761.
 2023-10-14 21:51:15 -07:00
Anit Mangal
c0b4c6cce6 [wpimath] Add overloads for Transform2d and Transform3d (#5757) 
Adds overloads for Transform2d() constructor to accept x, y, and heading and for Transform3d() to accept x, y, z and rotation as a shorthand for the normal constructors.
 2023-10-12 23:21:39 -07:00
narmstro2020
faa1e665ba [wpimath] Add ElevatorFeedforward.calculate(currentV, nextV) overload (#5715) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-10-09 08:16:45 -07:00
Jordan McMichael
33243f982b [wpimath] Expand Quaternion class with additional operators (#5600) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-10-08 16:42:53 -07:00
PJ Reiniger
dd5612fbee [json] Add forward definition header (#5676) 2023-09-22 13:01:27 -07:00
Tyler Veness
eab44534c3 [wpimath] Remove unused SmallString include (#5677) 2023-09-22 08:01:01 -07:00
Tyler Veness
5ab54ff760 Replace wpi::raw_istream with wpi::MemoryBuffer (#5675) 
Instances of wpi::raw_istream were left that are reading incrementally
from file descriptors like USB devices.
 2023-09-21 23:20:09 -07:00
Colin Finn
6ef94de9b5 [wpimath] Add tests for ArmFeedforward and ElevatorFeedforward (#5663) 2023-09-18 22:25:08 -07:00
Ryan Blue
4da5aee88a [wpimath] Remove SlewRateLimiter 2 argument constructor (#5648) 
Deprecated in #4377
 2023-09-16 22:04:29 -07:00
Tyler Veness
4bac4dd0f4 [wpimath] Move PIDController from frc2 to frc namespace (#5640) 
The old PIDController class in the frc namespace was removed for the
2023 season.
 2023-09-15 19:57:31 -07:00
Tyler Veness
a9ab08f48b [wpimath] Rename ChassisSpeeds.fromDiscreteSpeeds() to discretize() (#5616) 
This better reflects what's actually going on mathematically.
 2023-09-08 20:14:59 -07:00
Tyler Veness
8e05983a4a [wpimath] Add math docs to plant inversion feedforward internals (NFC) (#5618) 2023-09-08 20:14:24 -07:00
Tyler Veness
1a6df6fec6 [wpimath] Fix DARE Q decomposition (#5611) 2023-09-05 10:48:43 -07:00
Tyler Veness
814f18c7f5 [wpimath] Fix computation of C for DARE (A, C) detectability check (#5609) 
If Q has off-diagonal entries, C and Cᵀ are different.
 2023-09-04 21:12:25 -07:00
Tyler Veness
a750bee54d [wpimath] Use std::norm() in IsStabilizable() (#5599) 2023-08-31 22:52:18 -07:00
Gold856
8e2465f8a0 [wpimath] Add arithmetic functions to wheel speeds classes (#5465) 2023-08-31 11:57:24 -07:00
Tyler Veness
10d4f5b5df [wpimath] Clean up notation in DARE precondition docs (#5595) 2023-08-31 11:56:41 -07:00
Tyler Veness
99f66b1e24 [wpimath] Replace frc/EigenCore.h typedefs with Eigen's where possible (#5597) 2023-08-31 11:03:37 -07:00
Gold856
4e0d785356 [wpimath] ChassisSpeeds: document that values aren't relative to the robot (NFC) (#5551) 2023-08-30 13:22:42 -07:00
Omar Zrien
67043a8eeb [wpimath] Add angular jerk unit (#5582) 2023-08-29 12:53:14 -07:00
Tyler Veness
51b0fb1492 [wpimath] Fix incorrect header inclusion in angular_acceleration.h (#5587) 
Specific unit headers should only include units they use. In this case,
that's angle and time.
 2023-08-29 12:52:39 -07:00
Tyler Veness
b7657a8e28 [wpimath] Split WPIMathJNI into logical chunks (#5552) 
This makes things easier to find, and speeds up compilation.
 2023-08-29 09:00:19 -07:00
Tyler Veness
f1d7b05723 [wpimath] Clean up unit formatter (#5584) 2023-08-29 08:56:48 -07:00
Tyler Veness
8e2a7fd306 Include thirdparty libraries with angle brackets (#5578) 2023-08-28 15:13:34 -07:00
Tyler Veness
e322ab8e46 [wpimath] Fix docs for DARE ABQRN stabilizability check (NFC) (#5579) 2023-08-28 15:10:42 -07:00
Tyler Veness
0d2d989e84 [wpimath] Update to gcem 1.17.0 (#5575) 2023-08-28 15:03:06 -07:00
Tyler Veness
7889b35b67 [wpimath] Add RamseteController comparison to LTV controller docs (NFC) (#5559) 2023-08-24 00:04:54 -07:00
Joseph Eng
2e4ad35e36 [wpiutil] jni_util: Add JSpan and CriticalJSpan (#5554) 
These replace JArrayRef et al and support statically sized arrays similar to std::span.
 2023-08-24 00:02:56 -07:00
Tyler Veness
8f3d6a1d4b [wpimath] Remove discretizeAQTaylor() (#5562) 
It gives incorrect results. Any replacement should just be an
implementation detail of discretizeAQ().

Closes #5339.
 2023-08-23 10:47:32 -07:00
Tyler Veness
7c20fa1b18 [wpimath] Refactor DARE tests to reduce RAM usage at compile time (#5557) 2023-08-23 10:46:50 -07:00
Tyler Veness
96f7fa662e Upgrade Maven dependencies (#5553) 
The following source code changes were required:

* Whitespace changes from spotless
* PMD warning suppressions for utility class tests
* PMD warning rename from "BeanMembersShouldSerialize" to
  "NonSerializableClass"
* Declared more class members as final
 2023-08-18 19:18:33 -07:00
Tyler Veness
f9e2757d8f [wpimath] Use JDoubleArrayRef in all JNI functions (#5546) 2023-08-17 13:57:06 -07:00
Tyler Veness
0cf6e37dc1 [wpimath] Make LTV controller constructors use faster DARE solver (#5543) 
Made JNI modifications to expose the faster function, made the API use
the typesafe Matrix API, and synchronized the documentation with C++.

Sped up C++ LTV diff drive test from 20 ms to 15 ms.
Sped up C++ LTV unicycle test from 15 ms to 10 ms.
 2023-08-17 13:56:15 -07:00
Joseph Eng
7a37e3a496 [wpimath] Correct Rotation3d::RotateBy doc comment (NFC) (#5541) 
Improve transform doc comment consistency
 2023-08-15 13:12:09 -07:00
Tyler Veness
186b409e16 [wpimath] Remove internal Eigen header include (#5539) 2023-08-15 08:47:48 -07:00
Tyler Veness
03764dfe93 [wpimath] Add static matrix support to DARE solver (#5536) 
Using static matrices where possible results in a 2x performance
improvement.
 2023-08-14 09:15:58 -07:00
Tyler Veness
394cfeadbd [wpimath] Use SDA algorithm instead of SSCA for DARE solver (#5526) 
Both seem to work, but the SDA algorithm is specifically recommended for
solving DAREs as opposed to P-DAREs.

The QR decomposition was replaced with a partial pivoting LU
decomposition at the recommendation of section 2.4 of the paper.

More tests and a separate JNI function for each DARE solver variant were
added.
 2023-08-12 19:45:45 -07:00
amquake
8121566258 [wpimath] Fix CoordinateSystem.convert() Transform3d overload (#5532) 2023-08-12 15:20:22 -07:00