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a274e297cd8138e280713a6623f06d9baa697db4
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143 Commits

Author SHA1 Message Date
David Vo
a274e297cd Fix trivial errorprone warnings (NFC) (#6135) 2024-01-19 20:46:38 -08:00
Tyler Veness
ca35bcd827 [wpimath] Use tolerance in rotation interpolation tests (#6237) 2024-01-19 20:35:13 -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
Tyler Veness
2bb1409b82 Clean up Java style (#5990) 
Also make equivalent changes in C++ where applicable.

Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
 2023-12-03 16:21:32 -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
Tyler Veness
e09be72ee0 [wpimath] Remove unused SimpleMatrixUtils class (#5979) 
It looks like it was gradually replaced by JNI wrappers around Eigen.
 2023-11-30 21:12:43 -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
Sam Carlberg
0ca1e9b5f9 [wpimath] Add basic wpiunits support (#5821) 
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.
 2023-11-17 10:45:04 -06:00
Joseph Eng
79dd795bc0 [wpimath] Clean up VecBuilder and MatBuilder (#5906) 2023-11-14 12:23:50 -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
Tyler Veness
02cbbc997d [wpimath] Make Vector-Vector binary operators return Vector (#5772) 
Fixes #5741.
 2023-10-17 16:44:30 -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
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
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
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
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
00450c3548 [wpimath] Upgrade to EJML 0.42 (#5531) 2023-08-11 23:25:43 -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
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
Joseph Eng
657338715d [wpimath] Add ChassisSpeeds method to fix drifting during compound swerve drive maneuvers (#5425) 2023-07-18 21:19:55 -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
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
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
901ab693d4 [wpimath] Use UtilityClassTest for more utility classes (#5384) 2023-06-08 21:11:26 -07:00
Tyler Veness
52bd5b972d [wpimath] Rewrite DARE solver (#5328) 
I timed the DARE unit tests, and the new solver is 0 to 100% faster in
all cases (that is, it's at least as fast as Drake's and up to 2x faster
in some cases).

The new solver is also much simpler, takes less time to compile, and
drops the libwpimath.so size from 325 MB to 301 MB.

I think most of the compilation time is coming from the eigenvalue
decompositions used to enforce argument preconditions.
 2023-05-14 22:23:00 -07:00
Gold856
24828afd11 [wpimath] Fix desaturateWheelSpeeds to account for negative speeds (#5269) 2023-04-28 20:53:20 -07:00
Tyler Veness
63512bbbb8 [wpimath] Fix potential divide-by-zero in RKDP (#5242) 
If f(x, u) has no dynamics, the truncation error can be zero.
 2023-03-26 17:00:09 -07:00
nt
08f298e4cd [wpimath] Fix Pose3d log returning Twist3d NaN for theta between 1E-8 and 1E-7 (#5168) 2023-03-13 21:27:32 -07:00
nt
099d048d9e [wpimath] Fix Pose3d log returning Twist3d NaN for theta between 1E-9 and 1E-8 (#5143) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-02-26 16:41:36 -08:00
Jordan McMichael
59be120982 [wpimath] Fix Pose3d exp()/log() and add rotation vector constructor to Rotation3d (#5072) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-02-08 21:31:03 -08:00
Jordan McMichael
4079eabe9b [wpimath] Discard stale pose estimates (#5045) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-02-03 22:04:30 -08:00
Ryan Blue
7b828ce84f [wpimath] Add nearest to Pose2d and Translation2d (#4882) 
Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>
 2023-02-03 15:27:16 -08:00
Tyler Veness
f8a45f1558 [wpimath] Remove print statements from tests (#4977) 2023-01-19 17:00:35 -08:00
Jordan McMichael
42c997a3c4 [wpimath] Fix Pose3d exponential and clean up Pose3d logarithm (#4970) 
Implementation based on this paper: https://ethaneade.org/lie.pdf
 2023-01-18 20:38:03 -08:00
sciencewhiz
1e05b21ab5 [wpimath] Fix PID atSetpoint to not return true prematurely (#4906) 
Wait until setpoint and measurement have been set.
 2023-01-13 22:26:30 -08:00