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174 Commits

Author SHA1 Message Date
Tyler Veness
dc00a13d83 [wpimath] Make cost and covariance matrix functions constexpr (#6444) 2024-05-07 15:32:14 -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
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
Tyler Veness
fd363fdf5a [wpimath] Add Sleipnir (#6541) 
This is useful for solving quadratic programs.
 2024-04-27 22:42:42 -07:00
Joseph Eng
cdfa2ece6f [wpimath] Add PoseEstimator.sampleAt() (#6426) 2024-04-27 21:03:37 -07:00
Peter Johnson
c88be31ec2 Merge branch 'development' 2024-04-21 20:15:51 -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
DeltaDizzy
7bd8c44570 [wpimath] Add structured data support for DifferentialDriveWheelPositions (#6412) 2024-03-09 10:09:02 -08:00
Asa Paparo
62cba9a4d3 [wpimath] Add vector projection and geometry vector conversions (#6343) 2024-02-10 10:43:58 -08:00
Tyler Veness
177132fa2a Replace C++ unit .to<double>() with .value() (#6317) 
The latter is shorter and is what we use everywhere else.
 2024-01-27 07:58:25 -08:00
Tyler Veness
f29a7d2e50 [docs] Add missing JavaDocs (#6146) 2024-01-04 08:38:06 -08:00
Gold856
f87c64af8a [wpimath] MecanumDriveWheelSpeeds: Fix desaturate() (#6040) 2023-12-14 20:52:45 -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
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
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
3a1194be40 Replace static_cast<void>() with [[maybe_unused]] attribute (#5892) 
This clarifies intent. Not done for thirdparty libraries or
structured binding variables.
 2023-11-08 12:47:23 -08:00
Tyler Veness
201a42a3cd [wpimath] Reorder TrapezoidProfile.calculate() arguments (#5874) 
ProfiledPIDController and ExponentialProfile use current, then goal.
This isn't a breaking change because this overload of calculate() is
new for 2024.
 2023-11-04 16:28:55 -07:00
Jordan McMichael
ecb7cfa9ef [wpimath] Add Exponential motion profile (#5720) 2023-10-19 17:26:32 -07:00
Brayden Zee
e814595ea7 [wpimath] Add ChassisSpeeds.fromRobotRelativeSpeeds() (#5744) 2023-10-17 10:13:04 -07:00
narmstro2020
faa1e665ba [wpimath] Add ElevatorFeedforward.calculate(currentV, nextV) overload (#5715) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-10-09 08:16:45 -07:00
Jordan McMichael
33243f982b [wpimath] Expand Quaternion class with additional operators (#5600) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-10-08 16:42:53 -07:00
Colin Finn
6ef94de9b5 [wpimath] Add tests for ArmFeedforward and ElevatorFeedforward (#5663) 2023-09-18 22:25:08 -07:00
Tyler Veness
4bac4dd0f4 [wpimath] Move PIDController from frc2 to frc namespace (#5640) 
The old PIDController class in the frc namespace was removed for the
2023 season.
 2023-09-15 19:57:31 -07:00
Tyler Veness
a9ab08f48b [wpimath] Rename ChassisSpeeds.fromDiscreteSpeeds() to discretize() (#5616) 
This better reflects what's actually going on mathematically.
 2023-09-08 20:14:59 -07:00
Tyler Veness
1a6df6fec6 [wpimath] Fix DARE Q decomposition (#5611) 2023-09-05 10:48:43 -07:00
Gold856
8e2465f8a0 [wpimath] Add arithmetic functions to wheel speeds classes (#5465) 2023-08-31 11:57:24 -07:00
Tyler Veness
99f66b1e24 [wpimath] Replace frc/EigenCore.h typedefs with Eigen's where possible (#5597) 2023-08-31 11:03:37 -07:00
Omar Zrien
67043a8eeb [wpimath] Add angular jerk unit (#5582) 2023-08-29 12:53:14 -07:00
Tyler Veness
8e2a7fd306 Include thirdparty libraries with angle brackets (#5578) 2023-08-28 15:13:34 -07:00
Tyler Veness
8f3d6a1d4b [wpimath] Remove discretizeAQTaylor() (#5562) 
It gives incorrect results. Any replacement should just be an
implementation detail of discretizeAQ().

Closes #5339.
 2023-08-23 10:47:32 -07:00
Tyler Veness
7c20fa1b18 [wpimath] Refactor DARE tests to reduce RAM usage at compile time (#5557) 2023-08-23 10:46:50 -07:00
Tyler Veness
186b409e16 [wpimath] Remove internal Eigen header include (#5539) 2023-08-15 08:47:48 -07:00
Tyler Veness
03764dfe93 [wpimath] Add static matrix support to DARE solver (#5536) 
Using static matrices where possible results in a 2x performance
improvement.
 2023-08-14 09:15:58 -07:00
Tyler Veness
394cfeadbd [wpimath] Use SDA algorithm instead of SSCA for DARE solver (#5526) 
Both seem to work, but the SDA algorithm is specifically recommended for
solving DAREs as opposed to P-DAREs.

The QR decomposition was replaced with a partial pivoting LU
decomposition at the recommendation of section 2.4 of the paper.

More tests and a separate JNI function for each DARE solver variant were
added.
 2023-08-12 19:45:45 -07:00
amquake
8121566258 [wpimath] Fix CoordinateSystem.convert() Transform3d overload (#5532) 2023-08-12 15:20:22 -07:00
Tyler Veness
35a8b129d9 [wpimath] Add RotateBy() function to pose classes (#5491) 
Fixes #5472.
 2023-07-31 21:16:44 -07:00
Gold856
86e91e6724 [wpimath] Refactor TrapezoidProfile API (#5457) 2023-07-19 17:25:10 -07:00
camaj
c69e34c80c [wpimath] ChassisSpeeds: Add arithmetic functions (#5293) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-07-18 16:30:21 -07:00
Joseph Eng
593767c8c7 [wpimath] Improve Euler angle calculations in gimbal lock (#5437) 2023-07-17 17:19:42 -07:00
Tyler Veness
fd5699b240 Remove references to Drake (#5427) 
Fixes #5426.
 2023-07-09 21:25:14 -07:00
Vasista Vovveti
6b5817836d [wpimath] Add tolerance for some tests (#5416) 2023-06-27 14:22:46 -07:00
Tyler Veness
5d3a133f9f Remove spaces in NOLINT comments (#5407) 
clang-tidy ignores the category filter if there's a space. wpiformat now
ignores categories it doesn't understand, so we can remove the spaces.
 2023-06-20 20:29:23 -07:00
Tyler Veness
3a0e484691 [wpimath] Fix clang-tidy warnings (#5403) 2023-06-20 11:35:15 -07:00
Gold856
991f4b0f62 [wpimath] PIDController: Add IZone (#5315) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2023-06-19 23:01:01 -07:00