RKDP is strictly better in terms of accuracy per unit of work. We used
RKF45 for sim physics in the 2021 season, but we transitioned to RKDP
before the 2022 season.
Reverts "[wpimath] Constrain Rotation2d range to -pi to pi (#4611)"
This reverts commit d1d458db2b.
This broke multiple teams code in beta. It is also easier to limit the angle externally, then reconstruct a larger angle that got limited. This additionally adds comments to clarify the behavior and retains tests that were added in the reverted commit, and fixes a javadoc comment angle reference.
The ComputerVisionUtil class was added before AprilTag support was
announced. Now that it has, the functions for estimating a pose from
range and yaw are no longer needed; it's just better to get the pose
directly from the AprilTag.
The coordinate system on some function arguments was confusing or didn't
match the NWU convention the rest of the library uses. It's easier to
remove the functions now and add them back after they're fixed since the
fixes aren't trivial.
The range function was removed because it uses pitch and yaw in the
camera's spherical coordinate system, which is obsoleted by AprilTags.
AprilTags give you a 6DOF pose directly, so range can be obtained via
Pose2d.getTranslation().getDistance().
Fixes#4757.
This effectively replaces the Unscented Kalman Filter used for Pose Estimation with the Odometry model, and uses a recalculable Kalman gain matrix to update pose estimations whenever a vision measurement is added.
Notably, this change removes the need for the confusing generics used in Java, and the C++ implementation got quite a bit less complex as well.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This is an API for looking up a Pose3d from a tag id, and includes functionality to load that map from a JSON file.
This also adds JSON support to Pose3d, Rotation3d. Translation3d, and Quaternion.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: AMereBagatelle <themerebagatelle@gmail.com>
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++.
