* 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()
Internal headers are no longer allowed as of
https://gitlab.com/libeigen/eigen/-/merge_requests/631. Based on
benchmarking I conducted in that thread, there doesn't seem to be a
performance penalty for including the full headers anymore.
This is an alternative to #2344 that handles arbitrary order derivatives
of arbitrary precision. The downside is that since it's part of
LinearFilter, it can't utilize the units type system in the same way to
make Calculate()'s input type different from its output type.
* Rename Butcher tableau sections in NumericalIntegration such that
top-left is c, top-right is A, and bottom-right is b
* Move edu.wpi.first.math.Discretization to
edu.wpi.first.math.system.Discretization
* Sort Java Discretization to match C++ function order
* Add tests for Java Discretization
* Required adding Runge-Kutta time-varying impl to tests
* Move C++ Runge-Kutta time-varying impl to tests only
* Users don't need it
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.
Also refactored RKF45 implementation to match the new style, which is
easier to read.
The tests were switched from RKF45 to RKDP since it's more accurate.
This also fixes a member function name inconsistency between languages
and adds missing documentation to C++'s KalmanFilterLatencyCompensator.
Fixes#3229.
- 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
The implementation of wpi::circular_buffer has been effectively replaced
with a dynamically sized copy of wpi::static_circular_buffer with a
resize() member function.
The units for angular Kv and Ka were inconsistent with the derivation. A
second factory function overload was added for angular units that uses a
trackwidth to convert to the other form.
Notice how section 15.2 of https://file.tavsys.net/control/controls-engineering-in-frc.pdf
defines the angular feedforward as u = Kv,angular v instead of u = Kv,angular + omega.
The units cancel for elements of A but not B, so just the B matrix was incorrect in our code.
This breaks existing C++ code since the units are part of the function
signature.
A lot of these are breaking changes. frc::Timer was replaced with the
contents of frc2::Timer. The others were in-place argument changes or
removing deprecated non-unit overloads.
This version incorporated the patch we were manually applying, so we're
synced back up with upstream now except for some minor #include changes
to reduce header bloat.
