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5fc4aee2d2db5580b138e4e3dab9c8effd66b5fe
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384 Commits

Author SHA1 Message Date
Gold856
5fc4aee2d2 [wpimath] SwerveDriveKinematics: Rename currentChassisSpeed to desiredChassisSpeed (#5393) 2023-06-19 22:58:38 -07:00
Gold856
50b90ceb54 [wpimath] SwerveDriveKinematics: Add reset method (#5398) 
Adds a reset method where teams can pass in module headings for the kinematics object to use if it gets an all-zero ChassisSpeeds while converting ChassisSpeeds to module states. Also removes internal states array, replacing it with an internal headings array.
 2023-06-19 22:57:55 -07:00
Ryan Blue
d6bd72d738 [wpimath] ProfiledPIDController: Add getConstraints (#5399) 2023-06-19 17:11:20 -07:00
Joseph Eng
25ad5017a9 [wpimath] Refactor kinematics, odometry, and pose estimator (#5355) 2023-06-19 17:10:39 -07:00
Thad House
d5ed9fb859 [wpimath] Create separate archive with just units headers (#5383) 
This will allow very low level deps to use the same units library we ship with wpilib
 2023-06-08 21:11:51 -07:00
Ryan Blue
901ab693d4 [wpimath] Use UtilityClassTest for more utility classes (#5384) 2023-06-08 21:11:26 -07:00
Tyler Veness
652d1c44e3 [wpiutil] Upgrade to macOS 12 to remove concept shims (#5379) 
The macOS deployment target has been upgraded from 10.15 to 11. Also, a
deprecation warning for sprintf() in libuv was suppressed.
 2023-06-08 19:59:54 -07:00
Ryan Blue
6414be0e5d [wpimath] Group units doxygen modules (#5382) 2023-06-08 19:58:55 -07:00
Tyler Veness
91cbcea841 Replace SFINAE with concepts (#5361) 
Concepts are cleaner to use and result in much better error messages for incorrect template use.
 2023-06-07 09:50:09 -07:00
Tyler Veness
d57d1a4598 [wpimath] Remove unnecessary template argument from unit formatter (#5367) 2023-06-07 09:47:46 -07:00
Tyler Veness
5acc5e22aa [wpimath] Only compute eigenvalues with EigenSolvers (#5369) 
We don't need the eigenvectors, so we're doing a lot of extra work we
don't need to.
 2023-06-07 09:47:09 -07:00
Tyler Veness
5fac18ff4a Update formatting to clang-format 16 (#5370) 2023-05-31 22:10:53 -07:00
Tyler Veness
a94a998002 [wpimath] Generalize Eigen formatter (#5360) 2023-05-30 23:35:15 -07:00
Tyler Veness
125f6ea101 [wpimath] Make SwerveDriveKinematics::ToChassisSpeeds() take const-ref argument (#5363) 2023-05-30 23:34:39 -07:00
Tyler Veness
51066a5a8a [wpimath] Move unit formatters into units library (#5358) 2023-05-26 01:05:27 -07:00
Tyler Veness
eed1e6e3cb [wpimath] Replace DiscretizeAQTaylor() with DiscretizeAQ() (#5344) 
Until #5339 is fixed, we have to use the slower, more accurate version.
 2023-05-18 07:13:20 -07:00
Tyler Veness
fd294bdd71 [build] Fix compilation with GCC 13 (#5322) 2023-05-16 13:31:58 -07:00
Tyler Veness
52bd5b972d [wpimath] Rewrite DARE solver (#5328) 
I timed the DARE unit tests, and the new solver is 0 to 100% faster in
all cases (that is, it's at least as fast as Drake's and up to 2x faster
in some cases).

The new solver is also much simpler, takes less time to compile, and
drops the libwpimath.so size from 325 MB to 301 MB.

I think most of the compilation time is coming from the eigenvalue
decompositions used to enforce argument preconditions.
 2023-05-14 22:23:00 -07:00
Tyler Veness
3876a2523a [wpimath] Remove unused MatrixImpl() function (#5330) 
It's an implementation detail left over from MakeMatrix().
 2023-05-14 22:22:28 -07:00
Tyler Veness
77c2124fc5 [wpimath] Remove Eigen's custom STL types (#4945) 
In C++20, overaligned types are handled properly, so Eigen's STL types
with custom allocators are no longer needed.
 2023-05-12 21:32:58 -07:00
Tyler Veness
21d4244cf7 [wpimath] Fix DCMotor docs (NFC) (#5309) 2023-05-07 22:56:05 -07:00
Tyler Veness
7ce75574bf [wpimath] Upgrade to Drake v1.15.0 (#5310) 2023-05-07 22:54:58 -07:00
Gold856
24828afd11 [wpimath] Fix desaturateWheelSpeeds to account for negative speeds (#5269) 2023-04-28 20:53:20 -07:00
Tyler Veness
e099948a77 [wpimath] Clean up rank notation in docs (NFC) (#5274) 2023-04-28 20:52:29 -07:00
Sriman Achanta
ba8c64bcff [wpimath] Fix misspelled Javadoc parameters in pose estimators (NFC) (#5292) 2023-04-28 20:51:47 -07:00
Tyler Veness
f53c6813d5 [wpimath] Patch Eigen warnings (#5290) 2023-04-28 20:51:22 -07:00
Tyler Veness
63512bbbb8 [wpimath] Fix potential divide-by-zero in RKDP (#5242) 
If f(x, u) has no dynamics, the truncation error can be zero.
 2023-03-26 17:00:09 -07:00
Tyler Veness
df3242a40a [wpimath] Fix NaN in C++ MakeCostMatrix() that takes an array (#5194) 
Java's makeCostMatrix() and the C++ MakeCostMatrix() overload that takes
a parameter pack already do the right thing.
 2023-03-17 07:05:28 -07:00
nt
08f298e4cd [wpimath] Fix Pose3d log returning Twist3d NaN for theta between 1E-8 and 1E-7 (#5168) 2023-03-13 21:27:32 -07:00
Dustin Spicuzza
e5c4c6b1a7 [wpimath] Fix invalid iterator access in TimeInterpolatableBuffer (#5138) 2023-02-26 16:42:24 -08:00
nt
099d048d9e [wpimath] Fix Pose3d log returning Twist3d NaN for theta between 1E-9 and 1E-8 (#5143) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-02-26 16:41:36 -08:00
sciencewhiz
4af84a1c12 Fix Typos (NFC) (#5137) 2023-02-26 15:06:37 -08:00
Tyler Veness
ce3686b80d [wpimath] Check LTV controller max velocity precondition (#5142) 2023-02-26 15:05:41 -08:00
Jonah
e9a7bed988 [wpimath] Add timestamp getter to MathShared (#5091) 
This makes it possible to mock the timestamp for wpimath without affecting the rest of the library.

Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
 2023-02-17 14:53:17 -08:00
Tyler Veness
74dea9f05e [wpimath] Fix exception for empty pose buffer in pose estimators (#5106) 
Fixes #5100.
 2023-02-16 22:00:21 -08:00
Jordan McMichael
59be120982 [wpimath] Fix Pose3d exp()/log() and add rotation vector constructor to Rotation3d (#5072) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-02-08 21:31:03 -08:00
Tyler Veness
2f310a748c [wpimath] Fix DCMotor.getSpeed() (#5061) 
This bug didn't occur in C++ because the units system caught it at
compile time.
 2023-02-05 13:21:16 -08:00
Jordan McMichael
4079eabe9b [wpimath] Discard stale pose estimates (#5045) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-02-03 22:04:30 -08:00
Ryan Blue
7b828ce84f [wpimath] Add nearest to Pose2d and Translation2d (#4882) 
Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>
 2023-02-03 15:27:16 -08:00
Tyler Veness
8bf67b1b33 [wpimath] PIDController::Calculate(double, double): update setpoint flag (#5021) 
Fixes #5020.
 2023-01-29 07:18:48 -08:00
Tyler Veness
00aa66e4fd [wpimath] Remove extraneous assignments from DiscretizeAB() (#4967) 2023-01-23 09:46:12 -08:00
Tyler Veness
d48a83dee2 [wpimath] Update Wikipedia links for quaternion to Euler angle conversion (NFC) (#4995) 2023-01-21 15:16:35 -08:00
Peter Johnson
504fa22143 [wpimath] Workaround intellisense Eigen issue (#4992) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-01-21 15:16:12 -08:00
Tyler Veness
f8a45f1558 [wpimath] Remove print statements from tests (#4977) 2023-01-19 17:00:35 -08:00
Jordan McMichael
42c997a3c4 [wpimath] Fix Pose3d exponential and clean up Pose3d logarithm (#4970) 
Implementation based on this paper: https://ethaneade.org/lie.pdf
 2023-01-18 20:38:03 -08:00
Tyler Veness
0ebf79b54c [wpimath] Fix typo in Pose3d::Exp() docs (NFC) (#4966) 2023-01-18 13:46:45 -08:00
Oliver W
a8c465f3fb [wpimath] HolonomicDriveController: Add getters for the controllers (#4948) 2023-01-16 08:33:15 -08:00
sciencewhiz
1e05b21ab5 [wpimath] Fix PID atSetpoint to not return true prematurely (#4906) 
Wait until setpoint and measurement have been set.
 2023-01-13 22:26:30 -08:00
ohowe
e5a6197633 [wpimath] Fix SwerveDriveKinematics not initializing a new array each time (#4942) 
This is problematic if you call it twice before utilizing the result.
 2023-01-13 20:16:50 -08:00
Matt
f7f19207e0 [wpimath] Allow multiple vision measurements from same timestamp (#4917) 
Co-authored-by: Jordan McMichael <jlmcmchl@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-01-11 23:04:30 -08:00