The Google C++ protobuf implementation has issues with dynamic linkage across DLL boundaries because it uses global variables. It also has a compile-time dependency because the protoc version must exactly match the libprotobuf version. Using nanopb with a customized generator fixes both of these issues.
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
These test fixtures were adding complexity while only saving one line of
object initialization per test. Our other tests like this just make the
object at the top of each test.
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.
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.
* Use explicit this capture required by C++20
* Use C++20 span
* Replace wpi::numbers with std::numbers
* Fix C++20 clang-tidy warning false positive in fmt
* Remove ciso646 include since C++20 removed that header
* Fix global-buffer-overflow asan warnings in ntcore tests
* Add DIOSetProxy constructor to HAL
* Upgrade MSVC compiler to 2022
* Bump native-utils to 2023.2.7 (changes to std=c++20)
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
Now, implicit narrowing conversions are only used with wpi::Now(). This
also fixes clang-tidy warnings about C-style casts. For example:
```
== clang-tidy /__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc ==
/__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc:95:18: warning: C-style casts are discouraged; use static_cast/const_cast/reinterpret_cast [google-readability-casting]
auto curTime = units::second_t(m_timer.Get());
^
```
In that case at least, the cast was removed entirely since Get() already
returns a units::second_t.
This adds a unicycle controller that's a drop-in replacement for Ramsete
and a differential drive controller that controls the full pose and
outputs voltages. The main benefit is LQR-like tuning knobs using a
system model.
It was using the continuous B matrix to compute the feedback gain
instead of the discrete B matrix.
Tests were added for the matrix constructor overloads.
Inconsistent names were found using the following regular expressions.
* `rg "TEST(_F|_P)?\(\w+,\s+\w+Test\)"`
* `rg "TEST(_F|_P)?\(\w+,\s+Test\w+\)"`
* `rg "TEST(_F|_P)?\(\w+Tests,\s+\w+\)"`
Fixes#3495.
* 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()
There were three options for where to put this function:
1. A free function in LinearQuadraticRegulator.h. Returning a K matrix
means the user can't use the LinearQuadraticRegulator in a loop
anymore.
2. A default argument added to ctors in LinearQuadraticRegulator for a
time delay (default of 0). This has the smallest API footprint from
the user perspective, but it bloats the already substantial
constructor overload set of LinearQuadraticRegulator.
3. A member function in LinearQuadraticRegulator that modifies the
internal K. This would still have to take in a LinearSystem or (A, B)
pair because the ctor doesn't store it. Storing it internally feels
like paying for what we don't use most of the time.
I went with option 3.
I verified the tests's expected values in Python with
scipy.linalg.fractional_matrix_power().
Closes#2877.
