Java generics are too limited to do what we need. This refactors generic code previously in Unit and Measure into unit-specific classes that can have unit-safe math operations (notably, times and divide) that can return values in known units instead of a wildcarded Measure<?>.
Unit-specific measure implementations are automatically generated by ./wpiunits/generate_units.py, which generates generic interfaces and mutable and immutable implementations of those interfaces. These make up the bulk of the diff of this PR (approximately 9300 LOC).
This also adds units for angular and linear velocities, accelerations, and momenta; moment of inertia; and torque.
Currently, a max iteration heuristic is used to determine when a spline
is malformed. Instead, we can report a failure immediately if dx and dy
are too small, because the heading won't be accurate either.
Fixes#6826.
C++ doesn't need this because it supports value types, which are much
cheaper to construct. constexpr is also available to make construction
zero-cost.
LTVUnicycleController is a drop-in replacement with better tuning knobs.
The RamseteCommand examples were removed instead of retrofitted with
LTVUnicycleController because we're planning on removing the command
controller classes anyway, so it would be wasted effort. The
SimpleDifferentialDriveSimulation example shows direct
LTVUnicycleController usage.
This implements de/serialization for the types that aren't templated (SwerveDriveKinematics) in C++ or where there is no trivial way to go round-trip (Splines) for the messages.
To reduce the need for users to manually perform unit conversions, this allows Measure objects from wpiunits to be passed into most places in wpimath that currently expect doubles in terms of SI units like meters.
For example, users would need to know that unit conversion is required - and what the correct units are. Using units would be more difficult to write code for than just hardcoding a value or using Units.inchesToMeters.
Now, using units has no more developer overhead than using raw numbers.
ProfiledPIDController and ExponentialProfile use current, then goal.
This isn't a breaking change because this overload of calculate() is
new for 2024.
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.
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.
