I also refactored Pose3d's conversion implementation to use the
Translation3d and Rotation3d conversions, thereby giving Translation3d
and Rotation3d test coverage. No changes were made to the expected
values of the Pose3d conversion tests.
The expected values of the Transform3d conversion tests were copied from
the Pose3d conversion tests without modification.
Checkstyle naming conventions were changed to allow most of what's in
wpimath. Naming rules were disabled completely in wpimath since almost
all suppressions are for math notation.
The controller gain matrix K should be computed from the solution to the
DARE, but this constructor does not do that. It effectively violates a
postcondition enforced by the other constructors by letting the user
throw in a controller gain matrix that didn't come from an LQR.
Removing this constructor is a breaking change, but it never should have
been included in the class in the first place. There's also no valid
reason to use it. I assume it was originally added for debugging the
class internals.
This constructor does not exist in C++.
Replace ⊤ with \u22a4, since Unicode references are supported
but HTML5 entities are not. Should be fixed if JDK is ever
moved forward.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Added an Eigen::SparseMatrix formatter.
Also modified the Eigen::Matrix formatter to support Eigen::MatrixXd.
Eigen::MatrixXd sets both dimension template arguments to -1, so they
can't be used for iteration. rows() and cols() are now used instead.
rows() and cols() are constexpr for statically sized matrices, so
there's no performance loss there.
Now, implicit narrowing conversions are only used with wpi::Now(). This
also fixes clang-tidy warnings about C-style casts. For example:
```
== clang-tidy /__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc ==
/__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc:95:18: warning: C-style casts are discouraged; use static_cast/const_cast/reinterpret_cast [google-readability-casting]
auto curTime = units::second_t(m_timer.Get());
^
```
In that case at least, the cast was removed entirely since Get() already
returns a units::second_t.
fmt removed fmt::make_args_checked since it's no longer needed for
constexpr format string checks.
fmt deprecated implicit conversions from enums to integers in format
arguments, so I added explicit static casts.
In addition to m_prevError and m_totalError, m_positionError and
m_velocityError need to be reset to 0 when reset() is called.
Otherwise, the next time calculate() is called, the old values will be
used as the previous error, but this is inaccurate since the caller
wanted to reset the state of the PID controller.
* Calculated swerve module states now stored in a member variable
* If ChassisSpeeds(0, 0, 0) is converted to module speeds, the
previously calculated module angle will be conserved, with forward speed
set to 0
* New tests added
This adds a unicycle controller that's a drop-in replacement for Ramsete
and a differential drive controller that controls the full pose and
outputs voltages. The main benefit is LQR-like tuning knobs using a
system model.
