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5876b40f08efa1d0e4063fce82d9298dea562191
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78 Commits

Author SHA1 Message Date
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
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
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
Peter Johnson
e28776d361 [wpimath] LinearSystemLoop: Add extern templates for common cases 2022-04-30 20:38:55 -07:00
Peter Johnson
dac1429aa9 [wpimath] LQR: Use extern template instead of Impl class 2022-04-30 20:38:55 -07:00
Peter Johnson
e767605e94 [wpimath] Add typedefs for common types 
This makes complex code significantly easier to read.

frc::Vectord<Size> = Eigen::Vector<double, Size>
frc::Matrixd<Rows, Cols> = Eigen::Matrix<double, Rows, Cols>
 2022-04-30 20:38:55 -07:00
Peter Johnson
ae7b1851ec [wpimath] KalmanFilter: Use extern template instead of Impl class 2022-04-30 20:38:55 -07:00
Peter Johnson
e3d62c22d3 [wpimath] Add extern templates for common cases 
This helps reduce compile times and memory usage.
 2022-04-30 20:38:55 -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
Tyler Veness
d926dd1610 [wpimath] Fix pose estimator performance (#4111) 
Fixes #4087.
 2022-04-26 18:43:59 -07:00
Tyler Veness
5ebe911933 [wpimath] Add DifferentialDriveAccelerationLimiter (#4091) 2022-04-24 07:21:40 -07:00
Tyler Veness
5bf46a9093 [wpimath] Add ComputerVisionUtil (#4124) 
Closes #4108.
 2022-04-08 21:20:53 -07:00
Tyler Veness
78108c2aba [wpimath] Fix PIDController having incorrect error after calling SetSetpoint() (#4070) 2022-03-19 23:59:00 -07:00
David Vo
792e735e08 [wpimath] Move TrajectoryGenerator::SetErrorHandler definition to .cpp (#3920) 
Otherwise this function causes linking errors when used on Windows.
 2022-01-15 08:58:49 -08:00
Matt
315be873c4 [wpimath] Add TimeInterpolatableBuffer (#2695) 
These classes are useful for storing previous robot positions to use in conjunction with the upcoming pose estimators.

Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: cttew <cttewari@gmail.com>
 2021-12-30 19:08:05 -08:00
Oblarg
b8d019cdb4 [wpilib] Rename NormalizeWheelSpeeds to DesaturateWheelSpeeds (#3791) 2021-12-30 18:30:08 -08:00
Oblarg
aa9dfabde2 [wpimath] Move debouncer to filters (#3838) 2021-12-28 09:49:41 -08:00
Tyler Veness
acb64dff97 [wpimath] Make RamseteController::Calculate() more concise (#3763) 2021-12-06 12:57:42 -08:00
Tyler Veness
04957a6d30 [wpimath] Fix units of RamseteController's b and zeta (#3757) 
Fixes #3755.
 2021-12-03 18:21:30 -08:00
Oblarg
da90c1cd2c [wpilib] Add bang-bang controller (#3676) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2021-11-23 20:34:46 -08:00
Tyler Veness
2dc35c1399 [wpimath] Fix classpaths for JNI class loads (#3697) 
Found by inspecting the results of the following rg commands:
`rg --multiline 'FindClass\(\s*"'`
`rg 'JClass' -A 1`

Fixes #3660.
 2021-10-29 16:23:46 -07:00
Tyler Veness
a939cd9c89 [wpimath] Print uncontrollable/unobservable models in LQR and KF (#3694) 
IsDetectable() was added to make the code easier to read.
 2021-10-29 00:03:02 -07:00
Tyler Veness
181723e573 Replace .to<double>() and .template to<double>() with .value() (#3667) 
It's a less verbose way to do the same thing.
 2021-10-25 08:58:12 -07:00
Tyler Veness
4647d09b50 [docs] Fix Doxygen warnings, add CI docs lint job (#3639) 
The CI docs lint build is configured to fail on Doxygen warnings.
 2021-10-14 18:09:38 -07:00
Tyler Veness
9359431bad [wpimath] Clean up Eigen usage 
* Replace Matrix<> with Vector<> where vectors are explicitly intended.
  I found these via `rg "Eigen::Matrix<double, \w+, 1>"`.
* Pass all Eigen matrices by const reference. I found these via `rg
  "\(Eigen"` on main (the initializer list constructors make more false
  positives).
* Replace MakeMatrix() and operator<< usage with initializer list
  constructors. I found these via `rg MakeMatrix` and `rg "<<"`
  respectively.
* Deprecate MakeMatrix()
 2021-09-17 12:12:19 -07:00
Thad House
382deef750 [wpimath] Explicitly export wpimath symbols 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2021-09-17 12:12:19 -07:00
Tyler Veness
aa3848b2c8 [wpimath] Move RobotDriveBase::ApplyDeadband() to MathUtil (#3529) 
It's a useful function outside of the drive classes.

For backwards compatibility, deprecate (rather than remove) RobotDriveBase.applyDeadband()
 2021-08-28 20:52:05 -07:00
Tyler Veness
e0c6cd3dcc [wpimath] Add an operator for composing two Transform2ds (#3527) 2021-08-23 20:22:48 -07:00
Tyler Veness
ab8e8aa2a1 [wpimath] Update drake with upstream (#3484) 
Our patches for the DARE and [[noreturn]] attributes were merged
upstream. We missed their monthly release window by a day, so we'll use
a commit hash for now.
 2021-07-22 17:48:48 -07:00
Lucas
1ef826d1da [wpimath] Fix IOException path in WPIMath JNI (#3485) 
The current 2021.3.1 release refers to `java/lang/IOException` which causes the following exception when using `toPathweaverJson` or `fromPathweaverJson`:

```
java.lang.NoClassDefFoundError: java/lang/IOException
    at edu.wpi.first.math.WPIMathJNI.fromPathweaverJson(Native Method)
    at edu.wpi.first.wpilibj.trajectory.TrajectoryUtil.fromPathweaverJson(TrajectoryUtil.java:79)
```
 2021-07-22 17:48:33 -07:00
Tyler Veness
a4233e1a16 [wpimath] Add script for updating Drake (#3470) 
Common functionality between the Drake and Eigen update scripts was
refactored into a library.
 2021-07-08 22:36:01 -05:00
Prateek Machiraju
646ded9123 [wpimath] Remove incorrect discretization in pose estimators (#3460) 2021-06-23 21:57:52 -07:00
Tyler Veness
7aae2b72dc Replace std::to_string() with fmt::format() (#3451) 2021-06-19 09:30:01 -07:00
Noam Zaks
791770cf6e [wpimath] Move controller from wpilibj to wpimath (#3439) 2021-06-16 07:45:51 -07:00
Noam Zaks
9ce9188ff6 [wpimath] Add ReportWarning to MathShared (#3441) 2021-06-16 00:52:24 -07:00
Tyler Veness
f9c3d54bd1 [wpimath] Reset error covariance in pose estimator ResetPosition() (#3418) 
This also fixes a member function name inconsistency between languages
and adds missing documentation to C++'s KalmanFilterLatencyCompensator.

Fixes #3229.
 2021-06-08 21:20:43 -07:00
Peter Johnson
64f5413253 Use wpi::span instead of wpi::ArrayRef across all libraries (#3414) 
- Remove ArrayRef.h
- Add SpanExtras.h for a couple of convenience functions
 2021-06-06 19:51:14 -07:00
Tyler Veness
a5c471af7e [wpimath] Add LQR template specialization for 2x2 system 
A differential drive has this dimensionality (2 velocity states and 2
voltage inputs).
 2021-06-06 16:45:12 -07:00
Tyler Veness
edd2f0232c [wpimath] Add DARE solver for Q, R, and N with LQR ctor overloads 
This is useful for implementing implicit model following.
 2021-06-06 16:45:12 -07:00
Peter Johnson
b2c3b2dd8e Use std::string_view and fmtlib across all libraries (#3402) 
- Twine, StringRef, Format, and NativeFormatting have been removed
- Logging now uses fmtlib style formatting
- Nearly all uses of wpi::outs/errs have been replaced with fmt::print() or
std::puts()/std::fputs() (for unformatted strings).
- A wpi/fmt/raw_ostream.h header has been added to enable
fmt::print() with wpi::raw_ostream
 2021-06-06 16:13:58 -07:00
Peter Johnson
a04d1b4f97 [wpilibc] DriverStation: Remove ReportError and ReportWarning 
Change use cases to directly call FRC_ReportError.
 2021-05-25 10:04:32 -07:00
Peter Johnson
3cc2da3328 Merge branch '2022' 2021-05-09 14:15:40 -07:00