Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity
5,985 Commits 2 Branches 165 Tags
7a2d336d52dc17b4e9f27a3f100e79339e7e4b2d
Commit Graph

406 Commits

Author SHA1 Message Date
Tyler Veness
f9e2757d8f [wpimath] Use JDoubleArrayRef in all JNI functions (#5546) 2023-08-17 13:57:06 -07:00
Tyler Veness
0cf6e37dc1 [wpimath] Make LTV controller constructors use faster DARE solver (#5543) 
Made JNI modifications to expose the faster function, made the API use
the typesafe Matrix API, and synchronized the documentation with C++.

Sped up C++ LTV diff drive test from 20 ms to 15 ms.
Sped up C++ LTV unicycle test from 15 ms to 10 ms.
 2023-08-17 13:56:15 -07:00
Joseph Eng
7a37e3a496 [wpimath] Correct Rotation3d::RotateBy doc comment (NFC) (#5541) 
Improve transform doc comment consistency
 2023-08-15 13:12:09 -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
e8b5d44752 [wpimath] Make Java Quaternion use doubles instead of Vector (#5525) 
This avoids allocation overhead on construction. times() was also
rewritten to not allocate any temporary objects.

Getter calls in the C++ Quaternion class were modified for parity.
 2023-08-11 23:27:29 -07:00
Tyler Veness
00450c3548 [wpimath] Upgrade to EJML 0.42 (#5531) 2023-08-11 23:25:43 -07:00
Joseph Eng
faf3cecd83 [wpimath] Don't copy Matrix and underlying storage in VecBuilder (#5524) 2023-08-09 22:15:39 -07:00
Joseph Eng
b5bd0771eb [wpimath] Document extrinsic vs intrinsic rotations (NFC) (#5508) 2023-08-06 19:59:42 -07:00
Tyler Veness
d8c59ccc71 [wpimath] Add tests for MathUtil clamp() and interpolate() (#5501) 2023-08-03 23:43:20 -07:00
Ryan Blue
90e37a129f [wpiutil,wpimath] Add generic InterpolatingTreeMap (#5372) 2023-08-03 21:46:17 -07:00
Tyler Veness
6db2c42966 [wpimath] Trajectory: Throw on empty lists of States (#5497) 
Fixes #4141.
 2023-08-03 08:24:20 -07:00
Tyler Veness
21439b606c [wpimath] Disallow LTV controller max velocities above 15 m/s (#5495) 
15 m/s is about 50 ft/s, which is way above what FRC robots should be
able to achieve. This limit lets us catch user errors from bad unit
conversions immediately instead of the LUT generation in the LTV
controllers hanging for a really long time.

Fixes #5027.
 2023-08-02 23:37:49 -07:00
Joseph Eng
0c93aded8a [wpimath] Change kinematics.ToTwist2d(end - start) to kinematics.ToTwist2d(start, end) (#5493) 2023-08-01 22:25:26 -07:00
Tyler Veness
815a8403e5 [wpimath] Give infeasible trajectory constraints a better exception message (#5492) 
Fixes #3146.
 2023-07-31 21:43:22 -07:00
Tyler Veness
35a8b129d9 [wpimath] Add RotateBy() function to pose classes (#5491) 
Fixes #5472.
 2023-07-31 21:16:44 -07:00
Tyler Veness
a01b6467d3 [wpimath] Link to docs on LQR and KF tolerances (#5486) 
Fixes #4151.
 2023-07-31 19:17:44 -07:00
Tyler Veness
d814f1d123 [wpimath] Fix copy-paste error from Pose2d docs (NFC) (#5490) 2023-07-31 19:17:17 -07:00
Tyler Veness
98f074b072 [wpimath] Add folder prefix to geometry includes (#5489) 2023-07-31 19:17:02 -07:00
Joseph Eng
2ba8fbb6f4 [wpimath] Improve documentation for SwerveModulePosition::operator- (#5468) 2023-07-24 22:46:59 -07:00
Mihir Patankar
552f4b76b5 [wpimath] Add FOC-enabled Falcon constants to the DCMotor class (#5469) 2023-07-24 20:16:48 -07:00
Gold856
86e91e6724 [wpimath] Refactor TrapezoidProfile API (#5457) 2023-07-19 17:25:10 -07:00
Joseph Eng
657338715d [wpimath] Add ChassisSpeeds method to fix drifting during compound swerve drive maneuvers (#5425) 2023-07-18 21:19:55 -07:00
Tyler Veness
1af224c21b Add missing <functional> includes (#5459) 2023-07-18 21:18:32 -07:00
Joseph Eng
6f7cdd460e [wpimath] Pose3d: Switch to JNI for exp and log (#5444) 
The pure Java implementations allocate a lot of temporary objects, and the JNI implementation is substantially more performant.
 2023-07-18 16:32:11 -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
Peter Johnson
3a61deedde [wpimath] Rotation2d: Only use gcem::hypot when constexpr evaluated (#5419) 2023-07-04 12:05:55 -06:00
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
Gold856
f5b0d1484b [wpimath] Add isNear method to MathUtil (#5353) 
This method is used to check if the given value matches an expected value within a certain tolerance.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2023-06-19 23:00:07 -07:00
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
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