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Commit Graph

176 Commits

Author SHA1 Message Date
Starlight220
d5200db6cd [wpimath] Rename HolonomicDriveController.calculate params (#4683) 2022-11-23 23:13:50 -08:00
Tyler Veness
2ee3d86de4 [wpimath] Clarify Rotation3d roll-pitch-yaw direction (#4699) 2022-11-23 23:12:59 -08:00
Jordan McMichael
902e8686d3 [wpimath] Rework odometry APIs to improve feature parity (#4645) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2022-11-18 20:42:00 -08:00
amquake
88f7a3ccb9 [wpimath] Fix Pose relativeTo documentation (#4661) 2022-11-18 14:07:50 -08:00
Drew Williams
2e88a496c2 [wpimath] Add support for swerve joystick normalization (#4516) 2022-11-17 10:53:49 -08:00
Jordan McMichael
ce4c45df13 [wpimath] Rework function signatures for Pose Estimation / Odometry (#4642) 
Forcing the use of SwerveModulePostition[] and wpi::array<SwerveModulePosition, len> in place of variadic function signatures.
 2022-11-17 10:36:33 -08:00
Jordan McMichael
2e5f9e45bb [wpimath] Remove encoder reset comments on Swerve, Mecanum Odometry and Pose Estimation (#4643) 
In both of these cases, encoder resets are not required for normal use.
 2022-11-16 15:20:05 -08:00
Tyler Veness
14d8506b72 [wpimath] Fix units docs for LinearSystemId::IdentifyDrivetrainSystem() (#4600) 2022-11-14 14:26:16 -08:00
ohowe
d1d458db2b [wpimath] Constrain Rotation2d range to -pi to pi (#4611) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2022-11-14 14:25:15 -08:00
CarloWoolsey
dbcc1de37f [wpimath] Add DifferentialDriveFeedforward classes which wrap LinearPlantInversionFeedforward (#4598) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2022-11-10 16:54:51 -08:00
Griffin Della Grotte
b1b4c1e9e7 [wpimath] Fix Pose3d transformBy rotation type (#4545) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2022-11-07 09:57:33 -08:00
Alex Ryker
64a7136e08 [wpimath] SwerveDrivePoseEstimator: Restore comment about encoder reset (#4569) 2022-11-04 15:03:49 -07:00
Brennen Puth
b2b473b24a [wpilib] Add AprilTag and AprilTagFieldLayout (#4421) 
This is an API for looking up a Pose3d from a tag id, and includes functionality to load that map from a JSON file.

This also adds JSON support to Pose3d, Rotation3d. Translation3d, and Quaternion.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: AMereBagatelle <themerebagatelle@gmail.com>
 2022-11-04 09:56:22 -07:00
Tyler Veness
2416827c25 [wpimath] Fix docs for pose estimator local measurement models (#4558) 2022-11-02 22:53:21 -07:00
Tyler Veness
8bc3b04f5b [wpimath] Make ComputerVisionUtil use 3D geometry classes (#4528) 
Closes #4189.
 2022-10-26 22:20:08 -07:00
Justin
2a98d6b5d7 [wpimath] PIDController: Add getters for position & velocity tolerances (#4458) 2022-10-25 16:10:19 -07:00
Jordan McMichael
901fc555f4 [wpimath] Position Delta Odometry for Mecanum (#4514) 2022-10-25 12:28:59 -07:00
Jordan McMichael
4170ec6107 [wpimath] Position Delta Odometry for Swerve (#4493) 2022-10-25 12:28:36 -07:00
Tyler Veness
c195b4fc46 [wpimath] Clean up PoseEstimator nominal dt docs (#4496) 2022-10-21 19:53:58 -07:00
shueja-personal
3e5bfff1b5 [wpimath] FromFieldRelativeSpeeds: Add ChassisSpeeds overload (#4494) 2022-10-21 18:58:23 -07:00
Tyler Veness
16cdc741cf [wpimath] Add Pose3d(Pose2d) constructor (#4485) 2022-10-20 17:23:00 -07:00
Tyler Veness
ca43fe2798 [wpimath] Use Units conversions in ComputerVisionUtil docs (NFC) (#4464) 2022-10-12 13:54:15 -07:00
Ryan Blue
27b173374e [wpimath] Add minLinearAccel parameter to DifferentialDriveAccelerationLimiter (#4422) 2022-10-10 08:57:37 -07:00
Ryan Blue
2a13dba8ac [wpilib] TrajectoryUtil: Fix ambiguous documentation (NFC) (#4461) 2022-10-10 08:56:40 -07:00
Starlight220
b2276e47de [wpimath] Enable continuous angle input for HolonomicDriveController (#4453) 2022-10-06 17:46:22 -05:00
Tyler Veness
b53b3526a2 [wpimath] Add CoordinateSystem conversion for Transform3d (#4443) 
I also refactored Pose3d's conversion implementation to use the
Translation3d and Rotation3d conversions, thereby giving Translation3d
and Rotation3d test coverage. No changes were made to the expected
values of the Pose3d conversion tests.

The expected values of the Transform3d conversion tests were copied from
the Pose3d conversion tests without modification.
 2022-10-01 21:09:04 -07:00
Tyler Veness
38bb23eb18 [wpimath] Add scalar multiply and divide operators to all geometry classes (#4438) 
Closes #4435.
 2022-09-28 21:34:29 -07:00
Tyler Veness
a791470de7 Clean up Java warning suppressions (#4433) 
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.
 2022-09-24 00:13:55 -07:00
Tyler Veness
fdfb85f695 [wpimath] Remove Java LQR constructor that takes a controller gain matrix (#4419) 
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++.
 2022-09-17 00:18:08 -07:00
Tyler Veness
ab1baf4832 [wpimath] Add rotation matrix constructor to Rotation3d (#4413) 2022-09-17 00:17:30 -07:00
Tyler Veness
9730032866 [wpimath] Document LQR and KalmanFilter exceptions (#4418) 2022-09-17 00:16:40 -07:00
Brandon Parsons
5b656eecf6 [wpimath] Fix HTML5 entity (#4420) 
Replace &top; with \u22a4, since Unicode references are supported
but HTML5 entities are not. Should be fixed if JDK is ever
moved forward.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2022-09-17 00:15:40 -07:00
Tyler Veness
f36162fddc [wpimath] Improve Discretization internal docs (#4400) 2022-09-04 17:24:38 -07:00
Tyler Veness
5149f7d894 [wpimath] Add two-vector Rotation3d constructor (#4398) 
This is useful for turning a 3D vector into an orientation relative a
coordinate system vector.
 2022-09-04 13:16:29 -07:00
Tyler Veness
20b5bed1cb [wpimath] Clean up Java Quaternion class (#4399) 
Vector.norm() and Vector.dot() were added to make the implementation
simpler and match the C++ version more closely.
 2022-09-04 09:45:02 -07:00
ohowe
b5a17f762c [wpimath] Add direction to slew rate limiter (#4377) 2022-09-01 14:46:46 -07:00
CarloWoolsey
97c15af238 [wpimath] LinearSystemId: Fix docs, move C++ impls out of header (#4388) 
- Fix inaccuracies and inconsistencies in Java & C++ LinearSystemId documentation.
- Move LinearSystemId function definitions to LinearSystemId.cpp
 2022-08-31 09:12:48 -07:00
Tyler Veness
fe4d12ce22 [wpimath] Add LTV controller derivations and make enums private (#4380) 
The LTV differential drive controller derivation wasn't included inline
because it's too long.
 2022-08-28 23:04:52 -07:00
Tyler Veness
3fdb2f767d [wpimath] Add comments with Ramsete equations (#4348) 2022-08-11 07:09:16 -07:00
Tyler Veness
3ccf806064 [wpimath] Remove redundant LinearFilter.finiteDifference() argument (#4335) 
The number of samples is already determined by the length of the stencil
list.
 2022-07-22 12:50:30 -05:00
Tyler Veness
6f1e01f8bd [wpimath] Document example of online filtering for LinearFilter.finiteDifference() (#4336) 2022-07-22 12:46:33 -05:00
Tyler Veness
add00a96ed [wpimath] Improve DifferentialDriveAccelerationLimiter docs (NFC) (#4323) 
Defined trackwidth, added skipped steps to the algorithm's internal
proof, and grouped the algorithm steps more logically with blank lines.
 2022-07-01 06:43:57 -07:00
Tyler Veness
82fac41244 [wpimath] Better document trackwidth parameters (NFC) (#4324) 2022-07-01 06:42:49 -07:00
Connor Worley
a99c11c14c [wpimath] Replace UKF implementation with square root form (#4168) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2022-06-08 22:19:01 -07:00
Starlight220
f2d243fa68 [build] Change defaults for Java lints (#4300) 
Removes the need to individually suppress the "serial" warning.
 2022-06-06 17:06:43 -07:00
Prateek Machiraju
fc37265da5 [wpimath] Add angle measurement convention to ArmFeedforward docs (NFC) (#4285) 2022-06-02 21:22:47 -07:00
Prateek Machiraju
d9f9cd1140 [wpimath] Reset prev_time on pose estimator reset (#4283) 2022-06-02 21:21:42 -07:00
Tyler Veness
5aa67f56e6 [wpimath] Clean up math comments (#4252) 2022-05-20 15:16:56 -07:00
Tyler Veness
0d9956273c [wpimath] Add CoordinateSystem.convert() translation and rotation overloads (#4227) 2022-05-18 20:41:15 -07:00
Tyler Veness
5876b40f08 [wpimath] Memoize CoordinateSystem and CoordinateAxis statics (#4241) 2022-05-18 10:47:46 -07:00