Gradle publishing does not capture all of the source files that are used during a build. This should get most of them, and get it equivalent to what bazel pushes out.
Adds S3SigmaPoints based on MerweScaledSigmaPoints. In addition, restructures UnscentedKalmanFilter to support different sigma point generators and provides MerweUKF and S3UKF for convenience when working with either kind of filter.
S3UKFTest is copied from MerweUKFTest (which is a rename of UnscentedKalmanFilterTest). Curiously, however, in Java the original tolerance used in MerweUKFTest.testDriveConvergence() for the final rotation was too low for S3UKFTest, so the tolerance is increased from 0.000005 (5e-6) radians to 0.00015 (1.5e-4) radians. However, the C++ version still uses the original tolerance. (This difference is probably because Java uses a final rotation of 5.846 degrees while C++ uses a final rotation of 5.846 radians)
Closes#8072.
Breaking changes:
- (C++) UnscentedKalmanFilter has a new template parameter for the sigma point generator type.
- (Java) UnscentedKalmanFilter has an additional parameter to every constructor providing an instance of a sigma point generator.
- (C++) int MerweScaledSigmaPoints.NumSigmas() has been replaced with constexpr int MerweScaledSigmaPoints::NumSigmas.
- (C++) The second parameter of SquareRootUnscentedTransform has been changed from States to NumSigmas.
The generator was calling a binary of the wrong architecture and failing
internally, but passing the build (incorrectly). Explode right away.
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Pull in some of the fixes merged into the various dependencies. While
we are here, move all the downloads up to the top of the file so they
download in parallel.
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Thad says this is a compiler bug, rather than fight it, let's use a new
code path through the compiler.
ERROR: /home/austin/local/allwpilib3/wpilibcExamples/BUILD.bazel:50:12: Compiling wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp failed: (Exit 1): gcc failed: error executing CppCompile command (from target //wpilibcExamples:I2CCommunication-test) /usr/bin/gcc -U_FORTIFY_SOURCE -fstack-protector -Wall -Wunused-but-set-parameter -Wno-free-nonheap-object -fno-omit-frame-pointer -g0 -O2 '-D_FORTIFY_SOURCE=1' -DNDEBUG -ffunction-sections ... (remaining 234 arguments skipped)
Use --sandbox_debug to see verbose messages from the sandbox and retain the sandbox build root for debugging
In file included from /usr/include/c++/12/ios:40,
from /usr/include/c++/12/istream:38,
from /usr/include/c++/12/sstream:38,
from /usr/include/c++/12/chrono:41,
from bazel-out/k8-opt/bin/wpilibc/_virtual_includes/wpilibc.static/frc/TimedRobot.h:7,
from bazel-out/k8-opt/bin/wpilibcExamples/_virtual_includes/I2CCommunication-examples-headers/Robot.h:10,
from wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp:5:
In static member function 'static constexpr std::char_traits<char>::char_type* std::char_traits<char>::copy(char_type*, const char_type*, std::size_t)',
inlined from 'static constexpr void std::__cxx11::basic_string<_CharT, _Traits, _Alloc>::_S_copy(_CharT*, const _CharT*, size_type) [with _CharT = char; _Traits = std::char_traits<char>; _Alloc = std::allocator<char>]' at /usr/include/c++/12/bits/basic_string.h:423:21,
inlined from 'static constexpr void std::__cxx11::basic_string<_CharT, _Traits, _Alloc>::_S_copy(_CharT*, const _CharT*, size_type) [with _CharT = char; _Traits = std::char_traits<char>; _Alloc = std::allocator<char>]' at /usr/include/c++/12/bits/basic_string.h:418:7,
inlined from 'constexpr std::__cxx11::basic_string<_CharT, _Traits, _Allocator>& std::__cxx11::basic_string<_CharT, _Traits, _Alloc>::_M_replace(size_type, size_type, const _CharT*, size_type) [with _CharT = char; _Traits = std::char_traits<char>; _Alloc = std::allocator<char>]' at /usr/include/c++/12/bits/basic_string.tcc:532:22,
inlined from 'constexpr std::__cxx11::basic_string<_CharT, _Traits, _Alloc>& std::__cxx11::basic_string<_CharT, _Traits, _Alloc>::assign(const _CharT*) [with _CharT = char; _Traits = std::char_traits<char>; _Alloc = std::allocator<char>]' at /usr/include/c++/12/bits/basic_string.h:1647:19,
inlined from 'constexpr std::__cxx11::basic_string<_CharT, _Traits, _Alloc>& std::__cxx11::basic_string<_CharT, _Traits, _Alloc>::operator=(const _CharT*) [with _CharT = char; _Traits = std::char_traits<char>; _Alloc = std::allocator<char>]' at /usr/include/c++/12/bits/basic_string.h:815:28,
inlined from 'virtual void Robot::RobotPeriodic()' at wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp:27:77:
/usr/include/c++/12/bits/char_traits.h:431:56: error: 'void* __builtin_memcpy(void*, const void*, long unsigned int)' accessing 9223372036854775810 or more bytes at offsets -4611686018427387902 and [-4611686018427387903, 4611686018427387904] may overlap up to 9223372036854775813 bytes at offset -3 [-Werror=restrict]
431 | return static_cast<char_type*>(__builtin_memcpy(__s1, __s2, __n));
| ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~
cc1plus: all warnings being treated as errors
It's only syntactic sugar over the CommandScheduler's schedule method and creates a footgun because it’s too obvious to try to use in incorrect places.
Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>
* `-Wfixed-enum-extension` was replaced with `-Wc23-extensions`
* Removed unused private variables in SysId
* Suppressed `-Wnontrivial-memcall` in imgui.h and imgui_internal.h
Ensures java deprecated notation is paired with javadoc and vice versa.
Adds javadoc deprecation for MecanumControllerCommand, ArmFeedForward,
ElevatorFeedforward, and MecanumDriveMotorVoltages
Fixes#7736
Supersedes #7737
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
