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2a98d6b5d7bf31d038ada5e85a8b3a449fb0bf1d
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161 Commits

Author SHA1 Message Date
Justin
2a98d6b5d7 [wpimath] PIDController: Add getters for position & velocity tolerances (#4458) 2022-10-25 16:10:19 -07:00
Jordan McMichael
901fc555f4 [wpimath] Position Delta Odometry for Mecanum (#4514) 2022-10-25 12:28:59 -07:00
Jordan McMichael
4170ec6107 [wpimath] Position Delta Odometry for Swerve (#4493) 2022-10-25 12:28:36 -07:00
Tyler Veness
c195b4fc46 [wpimath] Clean up PoseEstimator nominal dt docs (#4496) 2022-10-21 19:53:58 -07:00
shueja-personal
3e5bfff1b5 [wpimath] FromFieldRelativeSpeeds: Add ChassisSpeeds overload (#4494) 2022-10-21 18:58:23 -07:00
Tyler Veness
16cdc741cf [wpimath] Add Pose3d(Pose2d) constructor (#4485) 2022-10-20 17:23:00 -07:00
Tyler Veness
ca43fe2798 [wpimath] Use Units conversions in ComputerVisionUtil docs (NFC) (#4464) 2022-10-12 13:54:15 -07:00
Ryan Blue
27b173374e [wpimath] Add minLinearAccel parameter to DifferentialDriveAccelerationLimiter (#4422) 2022-10-10 08:57:37 -07:00
Ryan Blue
2a13dba8ac [wpilib] TrajectoryUtil: Fix ambiguous documentation (NFC) (#4461) 2022-10-10 08:56:40 -07:00
Starlight220
b2276e47de [wpimath] Enable continuous angle input for HolonomicDriveController (#4453) 2022-10-06 17:46:22 -05:00
Tyler Veness
b53b3526a2 [wpimath] Add CoordinateSystem conversion for Transform3d (#4443) 
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.
 2022-10-01 21:09:04 -07:00
Tyler Veness
38bb23eb18 [wpimath] Add scalar multiply and divide operators to all geometry classes (#4438) 
Closes #4435.
 2022-09-28 21:34:29 -07:00
Tyler Veness
a791470de7 Clean up Java warning suppressions (#4433) 
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.
 2022-09-24 00:13:55 -07:00
Tyler Veness
fdfb85f695 [wpimath] Remove Java LQR constructor that takes a controller gain matrix (#4419) 
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++.
 2022-09-17 00:18:08 -07:00
Tyler Veness
ab1baf4832 [wpimath] Add rotation matrix constructor to Rotation3d (#4413) 2022-09-17 00:17:30 -07:00
Tyler Veness
9730032866 [wpimath] Document LQR and KalmanFilter exceptions (#4418) 2022-09-17 00:16:40 -07:00
Brandon Parsons
5b656eecf6 [wpimath] Fix HTML5 entity (#4420) 
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>
 2022-09-17 00:15:40 -07:00
Tyler Veness
f36162fddc [wpimath] Improve Discretization internal docs (#4400) 2022-09-04 17:24:38 -07:00
Tyler Veness
5149f7d894 [wpimath] Add two-vector Rotation3d constructor (#4398) 
This is useful for turning a 3D vector into an orientation relative a
coordinate system vector.
 2022-09-04 13:16:29 -07:00
Tyler Veness
20b5bed1cb [wpimath] Clean up Java Quaternion class (#4399) 
Vector.norm() and Vector.dot() were added to make the implementation
simpler and match the C++ version more closely.
 2022-09-04 09:45:02 -07:00
ohowe
b5a17f762c [wpimath] Add direction to slew rate limiter (#4377) 2022-09-01 14:46:46 -07:00
CarloWoolsey
97c15af238 [wpimath] LinearSystemId: Fix docs, move C++ impls out of header (#4388) 
- Fix inaccuracies and inconsistencies in Java & C++ LinearSystemId documentation.
- Move LinearSystemId function definitions to LinearSystemId.cpp
 2022-08-31 09:12:48 -07:00
Tyler Veness
fe4d12ce22 [wpimath] Add LTV controller derivations and make enums private (#4380) 
The LTV differential drive controller derivation wasn't included inline
because it's too long.
 2022-08-28 23:04:52 -07:00
Tyler Veness
3fdb2f767d [wpimath] Add comments with Ramsete equations (#4348) 2022-08-11 07:09:16 -07:00
Tyler Veness
3ccf806064 [wpimath] Remove redundant LinearFilter.finiteDifference() argument (#4335) 
The number of samples is already determined by the length of the stencil
list.
 2022-07-22 12:50:30 -05:00
Tyler Veness
6f1e01f8bd [wpimath] Document example of online filtering for LinearFilter.finiteDifference() (#4336) 2022-07-22 12:46:33 -05:00
Tyler Veness
add00a96ed [wpimath] Improve DifferentialDriveAccelerationLimiter docs (NFC) (#4323) 
Defined trackwidth, added skipped steps to the algorithm's internal
proof, and grouped the algorithm steps more logically with blank lines.
 2022-07-01 06:43:57 -07:00
Tyler Veness
82fac41244 [wpimath] Better document trackwidth parameters (NFC) (#4324) 2022-07-01 06:42:49 -07:00
Connor Worley
a99c11c14c [wpimath] Replace UKF implementation with square root form (#4168) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2022-06-08 22:19:01 -07:00
Starlight220
f2d243fa68 [build] Change defaults for Java lints (#4300) 
Removes the need to individually suppress the "serial" warning.
 2022-06-06 17:06:43 -07:00
Prateek Machiraju
fc37265da5 [wpimath] Add angle measurement convention to ArmFeedforward docs (NFC) (#4285) 2022-06-02 21:22:47 -07:00
Prateek Machiraju
d9f9cd1140 [wpimath] Reset prev_time on pose estimator reset (#4283) 2022-06-02 21:21:42 -07:00
Tyler Veness
5aa67f56e6 [wpimath] Clean up math comments (#4252) 2022-05-20 15:16:56 -07:00
Tyler Veness
0d9956273c [wpimath] Add CoordinateSystem.convert() translation and rotation overloads (#4227) 2022-05-18 20:41:15 -07:00
Tyler Veness
5876b40f08 [wpimath] Memoize CoordinateSystem and CoordinateAxis statics (#4241) 2022-05-18 10:47:46 -07:00
Max Gordon
a3d44a1e69 [wpimath] Add Translation2d.getAngle() (#4217) 
Co-authored-by: Max Gordon <tonald.drump2.0@gamil.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2022-05-14 21:22:00 -07:00
Tyler Veness
f341e1b2be [wpimath] Document standard coordinate systems better (NFC) (#4228) 2022-05-14 15:31:06 -07:00
Tyler Veness
b33715db15 [wpimath] Add CoordinateSystem class (#4214) 2022-05-07 10:25:19 -07:00
Tommy Beadle
dc6f641fd2 [wpimath] PIDController: Reset position and velocity error when reset() is called. (#4064) 
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.
 2022-05-06 08:44:08 -07:00
Tyler Veness
f20a20f3f1 [wpimath] Add 3D geometry classes (#4175) 
Also clean up 2D geometry documentation.
 2022-05-06 08:41:23 -07:00
Kaitlyn Kenwell
708a4bc3bc [wpimath] Conserve previously calculated swerve module angles when updating states for stationary ChassisSpeeds (#4208) 
* 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
 2022-05-06 08:38:20 -07:00
chen perach
ef7ed21a9d [wpimath] Improve accuracy of ComputerVisionUtil.calculateDistanceToTarget() (#4215) 2022-05-06 08:36:58 -07:00
Tyler Veness
b1abf455c1 [wpimath] LTVUnicycleController: Use LUT, provide default hyperparameters (#4213) 2022-05-04 22:04:08 -07:00
Tyler Veness
d5456cf278 [wpimath] LTVDifferentialDriveController: Remove unused variable (#4212) 2022-05-04 22:03:15 -07:00
Tyler Veness
ee03a7ad3b Remove most 2022 deprecations (#4205) 
Excludes "old" commands and SimDevice functions.
 2022-05-04 20:37:27 -07:00
Tyler Veness
ce1a7d698a [wpimath] Refactor WheelVoltages inner class to a separate file (#4203) 2022-05-01 11:01:20 -07:00
Tyler Veness
87bf70fa8e [wpimath] Add LTV controllers (#4094) 
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.
 2022-04-30 22:54:22 -07:00
Oblarg
09cf6eeecb [wpimath] ApplyDeadband: add a scale param (#3865) 
Also templates it in C++ so it can work with both doubles and units.
 2022-04-30 20:29:48 -07:00
Starlight220
18ff694f02 [wpimath] Add Rotation2d.fromRadians factory (#4178) 2022-04-30 00:19:29 -07:00
Tyler Veness
d926dd1610 [wpimath] Fix pose estimator performance (#4111) 
Fixes #4087.
 2022-04-26 18:43:59 -07:00