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Commit Graph

370 Commits

Author SHA1 Message Date
Brendan Raykoff
8def7b2222 [wpimath] Add geometry classes for Rectangle2d and Ellipse2d (#6555) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2024-06-04 18:27:32 -07:00
Tyler Veness
bdc42532ed [wpimath] Make unit max and min constexpr (#6690) 2024-06-02 21:45:02 -07:00
Joseph Eng
7751f6d1d2 [wpimath] Remove swerve wrappers for odometry and pose estimation, move wheel positions operations to kinematics (#6673) 2024-06-01 11:59:54 -07:00
Carl Hauser
294c9946ae [wpimath] PIDController.setIntegratorRange documentation fix (#6489) 2024-05-24 11:49:00 -07:00
Jade
8834cb1de4 [wpimath] ChassisSpeeds: add equals method (#6414) 2024-05-24 10:42:32 -07:00
Ryan Blue
65f4505e3c [wpimath] Add constraints support to ProfiledPIDController Sendable implementation (#6354) 2024-05-24 10:39:56 -07:00
Tyler Veness
0c822b45ab [wpimath] Fix Eigen maybe-uninitialized warnings (#6636) 2024-05-20 16:53:22 -07:00
ncorrea210
0b5aec82ff [wpimath] Add ChassisSpeeds::ToTwist2d() to ChassisSpeeds (#6634) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2024-05-20 12:19:17 -07:00
Benjamin Hall
8c420fa4c1 [wpimath] Modify C++ LinearFilter::Reset(span<double>, span<double>) to take span<T> (#6628) 
Previously, the overload took a span<double>. However, m_inputs and m_outputs store type T, so the function could not be called for any T that does not have an implicit constructor from double.
 2024-05-15 14:46:10 -06:00
Nicholas Armstrong
7fc17811fa [wpimath] Add full state support to LinearSystemId functions (#6554) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2024-05-15 07:23:22 -06:00
Tyler Veness
dc00a13d83 [wpimath] Make cost and covariance matrix functions constexpr (#6444) 2024-05-07 15:32:14 -07:00
Tyler Veness
ae4bcefefc [wpimath] Fix incorrect docs for Rotation3d default constructor (#6571) 
A Rotation3d is not defined by one angle.
 2024-05-01 09:06:13 -07:00
Tyler Veness
5359112b15 [wpimath] Deprecate RamseteController (#6494) 
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.
 2024-04-29 22:01:42 -07:00
Isaac Turner
70417f64da [wpimath] Remove deprecated TrapezoidProfile constructors (#6558) 2024-04-29 21:04:57 -07:00
Nicholas Armstrong
1ec089c7f9 [wpimath] Add ArmFeedforward calculate() overload that takes current and next velocity instead of acceleration (#6540) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2024-04-28 12:01:08 -07:00
Joseph Eng
cdfa2ece6f [wpimath] Add PoseEstimator.sampleAt() (#6426) 2024-04-27 21:03:37 -07:00
Tyler Veness
e73050a8fa [wpimath] Templatize formatters (#6535) 
This is required for compatibility with libc++'s std::format.
 2024-04-25 16:08:24 -07:00
Peter Johnson
c88be31ec2 Merge branch 'development' 2024-04-21 20:15:51 -07:00
Tyler Veness
2def62a1ef [wpimath] Document ChassisSpeeds::Discretize() math (NFC) (#6509) 2024-04-10 22:03:44 -07:00
Tyler Veness
d26e6d9ecc [wpimath] Support formatting Eigen array types (#6496) 2024-04-04 09:19:50 -07:00
Tyler Veness
5370f249a1 [build] Upgrade to wpiformat 2024.33 (#6449) 
This upgrades to clang-format and clang-tidy 18.1.1. This has the
constructor attribute formatting fix, so we can remove our
WPI_DEPRECATED macro.
 2024-03-18 23:11:20 -07:00
Peter Johnson
fd4424eb89 Merge branch 'main' into development 2024-03-16 11:06:44 -07:00
Tyler Veness
973bb55e66 [wpimath] LinearSystemId: Don't throw if Kv = 0 (#6424) 
That's just a system with no back-EMF.
 2024-03-10 08:11:18 -07:00
DeltaDizzy
7bd8c44570 [wpimath] Add structured data support for DifferentialDriveWheelPositions (#6412) 2024-03-09 10:09:02 -08:00
Peter Johnson
38c128fe6a Merge branch 'main' into development 2024-03-09 09:57:55 -08:00
Asa Paparo
62cba9a4d3 [wpimath] Add vector projection and geometry vector conversions (#6343) 2024-02-10 10:43:58 -08:00
N0tACyb0rg
3207795d0d [wpimath] Add lastValue() method to filters (#6351) 2024-02-10 10:43:23 -08:00
Tyler Veness
4f9d73783b [wpimath] Make units math functions constexpr (#6345) 2024-02-05 22:43:12 -08:00
Tyler Veness
84ef71ace0 [wpimath] Make Rotation2d implicitly convert from any angle unit (#6316) 
Add unit category concepts to support this.
 2024-01-26 12:49:22 -08:00
Tyler Veness
68736d802d [wpimath] Clean up profile classes (#6311) 
* Reorder functions so they match between languages
* Copy more complete JavaDocs to C++
* Fix incorrect description for time parameter of
  TrapezoidProfile.calculate()
 2024-01-25 22:22:42 -08:00
Tyler Veness
f29a7d2e50 [docs] Add missing JavaDocs (#6146) 2024-01-04 08:38:06 -08:00
Tyler Veness
ad0859a8c9 [docs] Add missing JavaDocs (#6125) 2024-01-01 22:56:23 -08:00
Braykoff
e1d49b975c [wpimath] Add LinearFilter reset() overload to initialize input and output buffers (#6133) 2024-01-01 21:20:53 -08:00
Tyler Veness
22a322c9f3 [wpimath] Report error on negative PID gains (#6055) 
Defaults PID gains to zero if any are invalid.
 2023-12-23 12:15:29 -08:00
ncorrea210
4e4a468d4d [wpimath] Make feedforward classes throw exceptions for negative Kv or Ka (#6084) 2023-12-23 08:12:46 -08:00
Tyler Veness
0b4c6a1546 [wpimath] Add more docs to SimulatedAnnealing (NFC) (#6054) 2023-12-16 11:03:54 -08:00
Tyler Veness
7d4e515a6b [wpimath] Simplify calculation of C for DARE precondition (#6022) 2023-12-08 20:25:03 -08:00
Ashray._.g
9d11544c18 [wpimath] Rotate traveling salesman solution so input and solution have same initial pose (#6015) 2023-12-05 23:21:28 -08:00
Joseph Eng
14c3ade155 [wpimath] Struct cleanup (#6011) 2023-12-04 22:40:18 -08:00
Peter Johnson
a583ca01e1 [wpiutil] Change Struct to allow non-constexpr implementation (#5992) 
This required changing the constant values (e.g. kSize) into functions
(e.g. GetSize()).

Fixed implementations of ForEachNested to be inline (as these are actually
templates).

Also added a ntcore Struct test.
 2023-12-02 23:36:44 -08:00
Tyler Veness
ca272de400 [build] Fix Gradle compile_commands.json and clang-tidy warnings (#5977) 2023-12-02 21:20:43 -08:00
Tyler Veness
74b85b76a9 [wpimath] Make gcem call std functions if not constant-evaluated (#5983) 
The one exception is macOS, which doesn't support std::beta().
 2023-12-01 09:08:04 -08:00
Tyler Veness
30816111db [wpimath] Fix TimeInterpolatableBuffer crash (#5972) 
Don't decrement buffer iterator if it's at the beginning of the
container.
 2023-11-30 23:18:38 -08:00
Tyler Veness
ac7d726ac3 [wpimath] Add simulated annealing (#5961) 
Co-authored-by: Ashray._.g <ashray.gupta@gmail.com>
 2023-11-30 22:57:50 -08:00
Prateek Machiraju
51eecef2bd [wpimath] Optimize 2nd derivative of quintic splines (#3292) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-11-30 21:07:52 -08:00
Tyler Veness
31cd015970 [wpimath] Add SysId doc links to LinearSystemId in C++ (NFC) (#5960) 
They already exist in Java.
 2023-11-24 23:46:09 -08:00
Tyler Veness
dfdea9c992 [wpimath] Make KalmanFilter variant for asymmetric updates (#5951) 2023-11-23 10:56:15 -08:00
PJ Reiniger
bb05e20247 [wpimath] Add protobuf/struct for trivial types (#5935) 
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.
 2023-11-21 10:14:06 -08:00
PJ Reiniger
35744a036e [wpimath] Move struct/proto classes to separate files (#5918) 
Also add unit tests.
 2023-11-21 10:11:57 -08:00
Tyler Veness
7d90d0bcc3 [wpimath] Clean up StateSpaceUtil (#5891) 2023-11-15 21:13:12 -08:00