Pose and state estimators can filter latency-compensated global measurements and fuse them with state-space drivetrain model information to estimate robot position. They are drop-in replacements for the existing odometry classes.
Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This makes AtSetpoint() return false after the setpoint is changed with
SetSetpoint().
Closes#2821.
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
This fixes an issue with some commands not correctly requiring their
subsytems. Furthermore, an execute() method was added to the
DriveDistance command to continuously update the voltage command.
Also deletes object files.
Both of these things are only done on the build server (-PbuildServer flag).
This will remove all test folders, which removes lots of copies of dependencies.
This also fixes an issue where gtest exectubables were installed for cross builds, even though they should not have been.
This bumps the version number of thirdparty-imgui in Gradle and adds
imgui_stdlib.cpp into the sources in CMake, as well as adding a new
include directory.
This issue only existed on the initial iteration. When timing is paused and stepped,
initialize() and execute() get called with the same timestamp the first time, which
would result in a divide by zero. All subsequent steps advance timing and only
call execute() so the time deltas are all set correctly.
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.
If a Sendable like SendableChooser is destroyed and recreated, it leaves
a stale object in the Sendable registry. Using this object results in a
crash. This patch avoids using the stale object.
We should remove stale objects from the global registry upon object
destruction, but this fixes the crashing issue for now.
Closes#2818.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
