Tyler Veness
220f4e1ba4
[wpimath] Remove RamseteController and RamseteCommand ( #7522 )
2024-12-07 23:38:35 -08:00
Tyler Veness
4910436b10
[wpimath] Remove LUTs from LTV controllers ( #7521 )
...
The Raspberry Pi 5 is fast enough that we no longer need it.
```
Running ./build/DAREBench
Run on (4 X 2400 MHz CPU s)
CPU Caches:
L1 Data 64 KiB (x4)
L1 Instruction 64 KiB (x4)
L2 Unified 512 KiB (x4)
L3 Unified 2048 KiB (x1)
Load Average: 0.47, 0.72, 0.45
***WARNING*** CPU scaling is enabled, the benchmark real time measurements may be noisy and will incur extra overhead.
-------------------------------------------------------------------------------
Benchmark Time CPU Iterations
-------------------------------------------------------------------------------
DARE_WPIMath_Dynamic 34.4 us 34.4 us 20315
DARE_WPIMath_NoPrecondChecks_Dynamic 21.7 us 21.7 us 32266
DARE_WPIMath_Static 15.2 us 15.2 us 45878
DARE_WPIMath_NoPrecondChecks_Static 7.84 us 7.84 us 89316
DARE_SLICOT 79.4 us 79.4 us 8789
DARE_Drake 34.9 us 34.9 us 20074
```
2024-12-07 23:00:15 -08:00
Tyler Veness
a7349f00ef
[wpimath] Fix duplicate Rotation2d constructor ( #7524 )
2024-12-07 22:31:09 -08:00
Peter Johnson
32ba751e58
Merge branch 'main' into 2027
2024-12-07 21:30:28 -08:00
Tyler Veness
62a6a77bbf
[wpimath] Add affine transformation constructors and getters to geometry API ( #7509 )
...
Fixes #7429 .
2024-12-07 21:29:02 -08:00
Tyler Veness
c497e4ec22
[wpimath] Fix SimpleFeedforward overload set ( #7516 )
2024-12-07 20:32:16 -08:00
Tyler Veness
e222efaa01
[wpimath] Add affine transformation constructors and getters to geometry API ( #7430 )
...
Fixes #7429 .
2024-12-07 15:49:17 -08:00
Peter Johnson
52b33edcbd
Merge branch 'main' into 2027
2024-12-07 14:11:47 -08:00
Tyler Veness
278efa6384
[upstream_utils] Remove Sleipnir patches no longer needed with GCC 11 ( #7491 )
2024-12-07 12:36:25 -08:00
Tyler Veness
882233bede
[wpimath] Improve SimpleMotorFeedforward argument names and deprecation message ( #7489 )
...
Also roll back SimpleMotorFeedforward unit API until 2027.
2024-12-06 22:32:40 -08:00
Tyler Veness
144e79a614
[wpimath] Remove Rotation2d value field ( #7490 )
...
It's not part of SO(2).
2024-12-06 21:00:09 -08:00
sciencewhiz
892e062316
[hal,wpilib,wpimath] Add Usage Reporting for Choreo and PathWeaver ( #7464 )
2024-11-30 20:33:09 -08:00
Tyler Veness
a0af0fd572
[wpimath] Remove redundant internal DARE function ( #7442 )
2024-11-28 21:24:13 -08:00
Joseph Eng
59dbfc9c2d
[wpimath] Improve C++ SimpleMotorFeedforward unit type support ( #7440 )
...
Allow using non-base types
Allow using angles for serde
2024-11-27 23:02:31 -08:00
sciencewhiz
0a3ccf93c6
[wpimath] Add BangBangController Usage Reporting ( #7411 )
2024-11-20 17:00:54 -08:00
Peter Johnson
661c321fe2
[upstream_utils] Restore Eigen intellisense fix ( #7404 )
...
This reverts commit d1de7663d3
2024-11-17 19:11:25 -08:00
Tyler Veness
d1de7663d3
[upstream_utils] Remove Eigen intellisense fix ( #7397 )
...
FRC Code intellisense continued to work in developerRobot with a QR
decomposition.
2024-11-16 22:16:11 -08:00
Sam Carlberg
ded7c87d63
[wpimath] Remove units from trapezoid profile classes ( #7276 )
2024-11-16 07:57:38 -08:00
Joseph Eng
2acf111f56
[wpimath] Add 3D odometry and pose estimation ( #7119 )
2024-11-16 07:56:14 -08:00
Tyler Veness
aa7dd258c4
[wpimath] Replace constexpr coeff() and coeffRef() with operator() ( #7391 )
2024-11-16 07:44:20 -08:00
Jonah Bonner
ca51197486
[wpilib] Add timestamp getters with configurable time base ( #7378 )
2024-11-16 07:43:38 -08:00
Kavin Muralikrishnan
07345712dc
[wpimath] Document default tolerances of PIDController ( #7377 )
2024-11-12 18:19:55 -05:00
Joseph Eng
425bf83036
[wpimath] Add 2D to 3D geometry constructors ( #7380 )
2024-11-12 18:18:37 -05:00
Peter Johnson
f40bd3593d
[wpilib,wpimath] Don't use mutable units for return values ( #7369 )
...
It only saves a single allocation and can cause confusing behavior on the
caller (user) side.
2024-11-08 18:29:51 -08:00
Thad House
3cc541f261
Remove generated google protobuf support ( #7371 )
...
It's not used anymore, and cleans up the build.
2024-11-08 18:29:30 -08:00
Tyler Veness
661bae568f
[wpimath] Add time-varying RKDP ( #7362 )
...
This makes the ground truth for the Taylor series AQ discretization more
accurate.
2024-11-07 23:46:52 -08:00
Thad House
8b8b634f65
[wpiutil] Change C++ protobuf to nanopb ( #7309 )
...
The Google C++ protobuf implementation has issues with dynamic linkage across DLL boundaries because it uses global variables. It also has a compile-time dependency because the protoc version must exactly match the libprotobuf version. Using nanopb with a customized generator fixes both of these issues.
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com >
2024-11-07 22:42:50 -08:00
Tyler Veness
a66fa339dc
[wpimath] Make controllers and some trajectory classes constexpr ( #7343 )
2024-11-07 14:02:11 -07:00
Tyler Veness
3113627be6
[wpimath] Fix PIDController error tolerance getters ( #7341 )
2024-11-05 09:52:22 -07:00
Tyler Veness
63e623d70b
[wpimath] Fix case and order of HolonomicDriveController PID getters ( #7342 )
2024-11-05 09:50:17 -07:00
Tyler Veness
9e8d37c03b
[wpimath] Remove unhelpful test fixtures ( #7344 )
...
These test fixtures were adding complexity while only saving one line of
object initialization per test. Our other tests like this just make the
object at the top of each test.
2024-11-05 09:49:38 -07:00
Tyler Veness
dfd1084526
[wpimath] Replace pi with symbol in docs ( #7322 )
2024-11-01 17:16:18 -07:00
Tyler Veness
328a781040
[wpimath] Port Rotation2d Java tests to C++ ( #7318 )
2024-10-31 20:40:14 -07:00
Tyler Veness
9f6f267f5c
[wpimath] DARE: Use wpi::expected instead of exceptions ( #7312 )
2024-10-31 20:37:57 -07:00
Tyler Veness
defcc02806
[wpimath] Clean up LTV controller includes ( #7313 )
2024-10-29 23:03:17 -07:00
Nicholas Armstrong
a3b12b3bd9
[wpimath] ChassisSpeeds fromRelative and discretize methods made instance methods ( #7115 )
2024-10-22 17:23:17 -06:00
Tyler Veness
05c7fd929b
[wpimath] Make various classes constexpr ( #7237 )
2024-10-22 07:58:06 -06:00
Tyler Veness
0c824bd447
[wpimath] Take finite difference stencil points by const ref ( #7238 )
2024-10-21 22:33:56 -07:00
Tyler Veness
ed18b41198
[upstream_utils] Add Eigen geometry module ( #7242 )
...
WPICal needs it.
2024-10-21 22:29:35 -07:00
Joseph Eng
6745fc7c2f
[wpimath] Fix C++ pose estimator poseEstimate initialization ( #7249 )
2024-10-21 22:29:04 -07:00
Tyler Veness
95b9bd880b
[wpimath] Make geometry classes constexpr ( #7222 )
2024-10-18 16:08:41 -07:00
Joseph Eng
2054d0f57e
[wpimath] Fix pose estimator reset methods ( #7225 )
2024-10-18 16:06:32 -07:00
Tyler Veness
ee281ea448
[wpimath] Merge .inc files into headers ( #7209 )
...
Splitting the files didn't help readability or save compilation time and
it confused contributors. Merging them is also in line with how C++
modules will be written.
2024-10-14 16:08:10 -07:00
Nicholas Armstrong
4adfa8bf64
[wpimath] Fully discretized ElevatorFF and ArmFF ( #7024 )
...
Co-authored-by: Tyler Veness <calcmogul@gmail.com >
2024-10-10 22:10:45 -07:00
Bryce Roethel
d97a749d84
[wpimath] SwerveDrivePoseEstimator: Fix stationary module emitting error when calculating angle in ToSwerveModuleStates ( #7175 )
2024-10-10 22:05:49 -07:00
Nicholas Armstrong
fe80d72fba
[wpimath] Add cosineScale method to SwerveModuleState and instance optimize ( #7114 )
2024-09-30 13:23:30 -06:00
Benjamin Hall
6b1e656659
[wpimath] Add DCMotor.getCurrent() overload accepting torque ( #7132 )
2024-09-28 09:33:15 -07:00
Nicholas Armstrong
6281ec0810
[wpimath] PIDController: Update field and method names for error and errorDerivative ( #7088 )
2024-09-23 11:57:20 -06:00
Tyler Veness
554024767e
Fix errors from new cpplint.py ( #7105 )
2024-09-20 17:43:39 -07:00
Joseph Eng
1f3ef019ce
[wpiutil] Return wpi::expected from MemoryBuffer::GetFile ( #7069 )
2024-09-12 23:45:35 -07:00
