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7f6ba54b683d3b1a5fba36b200cd156205bd1aa8
Commit Graph

340 Commits

Author SHA1 Message Date
Tyler Veness
7f6ba54b68 [wpimath] Report error when x and y components of Rotation2d are both zero (#6767) 
Fixes #6766.
 2024-07-08 12:23:36 -06:00
Joseph Eng
3d22eeca9d [wpiutil] Remove Protobuf.getNested() (#6812) 
It was superseded by using FileDescriptor.getDependencies().
 2024-07-08 07:59:05 -06:00
Thad House
1c42c1c920 [wpimath] Add a base JNI class for WPIMath (#6793) 
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
 2024-07-07 06:38:05 -07:00
Joseph Eng
512a4bfc12 [wpimath] Simplify pose estimator (#6705) 2024-06-28 20:12:12 -07:00
Tyler Veness
b8c2571638 [wpimath] Fix precondition violation messages in LQR and Kalman filters (#6731) 2024-06-21 20:55:01 -07:00
Gold856
b0cc84a9c7 [build] Upgrade to PMD 7.2.0 (#6718) 2024-06-08 22:08:23 -07:00
Brendan Raykoff
0606da64c9 [wpimath] LinearFilter lastValue(): Fix runtime exception (#6713) 2024-06-07 17:24:34 -07:00
Tyler Veness
5221069bcc [wpimath] Disambiguate wpimath JNI functions (#6695) 
Each collection of JNI functions now has its own class.
 2024-06-05 12:26:58 -07:00
Gold856
b99d9c1710 Use Java 17 features (#6691) 
Uses enhanced instanceof (and simplify equals methods)
Uses switch expressions and arrow labels
Seal and finalize some Shuffleboard classes

Co-authored-by: Sam Carlberg <sam@slfc.dev>
 2024-06-04 21:09:10 -07:00
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
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
Peter Johnson
7c8a36f3eb [wpiutil] Add Struct and Protobuf clone and immutable checks (#6686) 2024-06-01 11:58:53 -07:00
Carl Hauser
294c9946ae [wpimath] PIDController.setIntegratorRange documentation fix (#6489) 2024-05-24 11:49:00 -07:00
Jade
6220c6be4d [wpiutil] Remove RuntimeDetector and simplify RuntimeLoader (#6600) 2024-05-24 10:48:59 -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
bovlb
badd090538 [wpimath] Document example usage for InterpolatingDoubleTreeMap (NFC) (#6456) 2024-05-24 10:35:42 -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
Wispy
820f68dc08 [wpimath] Add InterpolatingDoubleTreeMap.ofEntries() (#6635) 
Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>
 2024-05-20 12:18:28 -07:00
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
Wispy
2563ff9f18 [wpimath] Add Pair.equals() (#6580) 2024-05-06 21:52:59 -07:00
Tyler Veness
e172aa66f7 [wpimath] Java: add static instantiations of common rotations (#6563) 
C++ doesn't need this because it supports value types, which are much
cheaper to construct. constexpr is also available to make construction
zero-cost.
 2024-05-03 12:39:35 -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
Isaac Turner
f5e08652f8 [wpimath] Remove deprecated MatBuilder factory (#6557) 2024-04-29 21:04:43 -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
Isaac Turner
d14dfed828 [wpimath] Rotation2d: add Measure<Angle> getter (Java) (#6492) 2024-04-21 20:23:36 -07:00
Tyler Veness
2def62a1ef [wpimath] Document ChassisSpeeds::Discretize() math (NFC) (#6509) 2024-04-10 22:03:44 -07:00
Wispy
4a548935d3 [wpimath] Add Pair.toString() (#6463) 2024-03-24 23:51:08 -07:00
Tyler Veness
85ea5f8497 [wpimath] Make more LinearSystemId functions not throw if Kv = 0 (#6465) 2024-03-24 23:50:41 -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
shueja
6afff99640 [wpimath] ExponentialProfile: Return copy of input state (#6370) 
As State is mutable, this avoids accidental modification of the passed-in object by the caller modifying the return value.
 2024-02-15 16:32:51 -08:00
fodfodfod
1e168f363e [wpimath] Feed forwards: Use correct 'k' value in error message (#6360) 2024-02-11 10:42:04 -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
Thad House
e9c744c456 [wpimath] Quaternion::Log(): Remove duplicate calls to norm() (#6358) 2024-02-10 10:41:19 -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
David Vo
a274e297cd Fix trivial errorprone warnings (NFC) (#6135) 2024-01-19 20:46:38 -08:00
Tyler Veness
f29a7d2e50 [docs] Add missing JavaDocs (#6146) 2024-01-04 08:38:06 -08:00
Tyler Veness
c486972c55 [wpimath] Make ExponentialProfile.State mutable (#6138) 
It was already mutable in the C++ ExponentialProfile and
TrapezoidProfile in both languages.
 2024-01-02 11:39:55 -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
Joseph Eng
938bf45fd9 [wpiutil] Remove type param from ProtobufSerializable and StructSerializable (#6122) 2023-12-31 14:36:11 -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
Peter Johnson
aeb1a4aa33 [wpiutil] Add serializable marker interfaces (#6060) 2023-12-23 08:20:26 -08:00
ncorrea210
4e4a468d4d [wpimath] Make feedforward classes throw exceptions for negative Kv or Ka (#6084) 2023-12-23 08:12:46 -08:00
m10653
43fb6e9f87 [glass] Add Profiled PID controller support & IZone Support (#5959) 2023-12-22 11:29:25 -08:00