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.
ProfiledPIDController and ExponentialProfile use current, then goal.
This isn't a breaking change because this overload of calculate() is
new for 2024.
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.
15 m/s is about 50 ft/s, which is way above what FRC robots should be
able to achieve. This limit lets us catch user errors from bad unit
conversions immediately instead of the LUT generation in the LTV
controllers hanging for a really long time.
Fixes#5027.
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.
Checkstyle naming conventions were changed to allow most of what's in
wpimath. Naming rules were disabled completely in wpimath since almost
all suppressions are for math notation.
The controller gain matrix K should be computed from the solution to the
DARE, but this constructor does not do that. It effectively violates a
postcondition enforced by the other constructors by letting the user
throw in a controller gain matrix that didn't come from an LQR.
Removing this constructor is a breaking change, but it never should have
been included in the class in the first place. There's also no valid
reason to use it. I assume it was originally added for debugging the
class internals.
This constructor does not exist in C++.
In addition to m_prevError and m_totalError, m_positionError and
m_velocityError need to be reset to 0 when reset() is called.
Otherwise, the next time calculate() is called, the old values will be
used as the previous error, but this is inaccurate since the caller
wanted to reset the state of the PID controller.
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.
This also makes the Gradle build work with JDK 17.
The extra JVM args in gradle.properties works around a bug with spotless
and JDK 17: https://github.com/diffplug/spotless/issues/834
PMD.CloseResource was ignored because it's almost always a false
positive, and there are many of them.
