This is increasingly difficult to maintain, and has very limited
benefit. Modern coprocessors with enough horsepower to run Java
applications can use the Gradle or Bazel build systems instead.
To reduce the need for users to manually perform unit conversions, this allows Measure objects from wpiunits to be passed into most places in wpimath that currently expect doubles in terms of SI units like meters.
For example, users would need to know that unit conversion is required - and what the correct units are. Using units would be more difficult to write code for than just hardcoding a value or using Units.inchesToMeters.
Now, using units has no more developer overhead than using raw numbers.
The wpimath library is a new library designed to separate the reusable math functionality
from the common utility library (wpiutil) and the hardware-dependent library (wpilibc/j).
Package names / include file names were NOT changed to minimize breakage. In a future year
it would be good to revamp these for a more uniform user experience and to reduce the risk
of accidental naming conflicts.
While theoretically all of this functionality could be placed into wpiutil, several pieces
of this library (e.g. DARE) are very time-consuming to compile, so it's nice to avoid this
expense for users who only want cscore or ntcore. It also allows for easy future separation
of build tasks vs number of workers on memory-constrained machines.
This moves the following functionality from wpiutil into wpimath:
- Eigen
- ejml
- Drake
- DARE
- wpiutil.math package (Matrix etc)
- units
And the following functionality from wpilibc/j into wpimath:
- Geometry
- Kinematics
- Spline
- Trajectory
- LinearFilter
- MedianFilter
- Feed-forward controllers
