Bryce Roethel
d97a749d84
[wpimath] SwerveDrivePoseEstimator: Fix stationary module emitting error when calculating angle in ToSwerveModuleStates ( #7175 )
2024-10-10 22:05:49 -07:00
Nicholas Armstrong
fe80d72fba
[wpimath] Add cosineScale method to SwerveModuleState and instance optimize ( #7114 )
2024-09-30 13:23:30 -06:00
Benjamin Hall
6b1e656659
[wpimath] Add DCMotor.getCurrent() overload accepting torque ( #7132 )
2024-09-28 09:33:15 -07:00
Nicholas Armstrong
6281ec0810
[wpimath] PIDController: Update field and method names for error and errorDerivative ( #7088 )
2024-09-23 11:57:20 -06:00
Wispy
6e8feb154c
[wpimath] Add more support for wpiunits in the geometry classes ( #6587 )
2024-09-07 22:23:19 -07:00
Sam Carlberg
a9b885070e
[wpiunits] Java units API rewrite ( #6958 )
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Java generics are too limited to do what we need. This refactors generic code previously in Unit and Measure into unit-specific classes that can have unit-safe math operations (notably, times and divide) that can return values in known units instead of a wildcarded Measure<?>.
Unit-specific measure implementations are automatically generated by ./wpiunits/generate_units.py, which generates generic interfaces and mutable and immutable implementations of those interfaces. These make up the bulk of the diff of this PR (approximately 9300 LOC).
This also adds units for angular and linear velocities, accelerations, and momenta; moment of inertia; and torque.
2024-09-07 10:59:29 -07:00
Gold856
b12b83aa89
Fix typos with cspell ( #6972 )
2024-08-17 07:44:34 -07:00
Ryan Blue
55c1c5396d
[wpimath] Remove deprecated MatBuilder constructor ( #6956 )
2024-08-13 20:59:59 -07:00
Ryan Blue
e21e129f12
[wpimath, commands] Fix RamseteController deprecation year ( #6953 )
2024-08-13 16:55:26 -07:00
Tyler Veness
685c732568
[wpimath] Make trajectory constraints use Rectangle2d and Ellipse2d ( #6901 )
2024-08-01 16:46:23 -07:00
Gold856
2fc55b86a2
[wpimath] Fix API docs for DCMotorSim and LinearSystemId ( #6904 )
2024-08-01 16:41:57 -07:00
Joseph Eng
073192d513
[wpimath] Add remaining struct and protobuf implementations ( #5953 )
2024-07-29 07:55:44 -07:00
Joseph Eng
158fb23072
[wpiutil] Struct: Change from GetTypeString() to GetTypeName() ( #6872 )
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This makes it easier to define schemas when the type name is non-trivial (e.g., templated structs).
This is breaking for a) custom struct implementations and b) anything calling `wpi::Struct<T>::GetTypeString(info...)` in C++ directly. In both cases, it's a simple translation: For A, rename `GetTypeString()` to `GetTypeName()` and remove the struct: at the beginning, and for B, use `wpi::GetStructTypeString<T>(info...)` instead.
2024-07-27 20:23:45 -07:00
Brendan Raykoff
45f3e3a069
[wpimath] Add getAccumulatedError() to PIDController ( #6813 )
2024-07-20 23:17:13 -07:00
Joseph Eng
b4d42d8980
[wpimath] Make public final values in feedforwards private and add getters ( #6851 )
2024-07-20 07:01:56 -07:00
Nicholas Armstrong
30c7632ab8
[wpimath] Make SimpleMotorFeedforward only support discrete feedforward ( #6647 )
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Co-authored-by: Tyler Veness <calcmogul@gmail.com >
2024-07-16 17:23:11 -07:00
Christopher Mahoney
6c0429c263
[wpimath] Remove WheelPositions interface/concept ( #6771 )
2024-07-16 12:39:24 -07:00
Joseph Eng
7b7d17ccd7
[wpimath] Add and use kinematics.copyInto() ( #6789 )
2024-07-15 17:19:31 -07:00
Tyler Veness
deb5f3d7af
[wpimath] Exit early when parameterizing malformed spline ( #6827 )
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Currently, a max iteration heuristic is used to determine when a spline
is malformed. Instead, we can report a failure immediately if dx and dy
are too small, because the heading won't be accurate either.
Fixes #6826 .
2024-07-12 21:52:28 -07:00
Jade
cc02a948a0
[wpimath] Add Reset methods to PoseEstimator ( #6751 )
2024-07-08 18:26:08 -07:00
Jade
dc276b651b
[wpimath] Add reset methods to Odometry ( #6702 )
2024-07-08 18:25:42 -07:00
Tyler Veness
7f6ba54b68
[wpimath] Report error when x and y components of Rotation2d are both zero ( #6767 )
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Fixes #6766 .
2024-07-08 12:23:36 -06:00
Joseph Eng
3d22eeca9d
[wpiutil] Remove Protobuf.getNested() ( #6812 )
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It was superseded by using FileDescriptor.getDependencies().
2024-07-08 07:59:05 -06:00
Thad House
1c42c1c920
[wpimath] Add a base JNI class for WPIMath ( #6793 )
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Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com >
2024-07-07 06:38:05 -07:00
Joseph Eng
512a4bfc12
[wpimath] Simplify pose estimator ( #6705 )
2024-06-28 20:12:12 -07:00
Tyler Veness
b8c2571638
[wpimath] Fix precondition violation messages in LQR and Kalman filters ( #6731 )
2024-06-21 20:55:01 -07:00
Gold856
b0cc84a9c7
[build] Upgrade to PMD 7.2.0 ( #6718 )
2024-06-08 22:08:23 -07:00
Brendan Raykoff
0606da64c9
[wpimath] LinearFilter lastValue(): Fix runtime exception ( #6713 )
2024-06-07 17:24:34 -07:00
Tyler Veness
5221069bcc
[wpimath] Disambiguate wpimath JNI functions ( #6695 )
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Each collection of JNI functions now has its own class.
2024-06-05 12:26:58 -07:00
Gold856
b99d9c1710
Use Java 17 features ( #6691 )
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Uses enhanced instanceof (and simplify equals methods)
Uses switch expressions and arrow labels
Seal and finalize some Shuffleboard classes
Co-authored-by: Sam Carlberg <sam@slfc.dev >
2024-06-04 21:09:10 -07:00
Brendan Raykoff
8def7b2222
[wpimath] Add geometry classes for Rectangle2d and Ellipse2d ( #6555 )
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Co-authored-by: Tyler Veness <calcmogul@gmail.com >
2024-06-04 18:27:32 -07:00
Joseph Eng
7751f6d1d2
[wpimath] Remove swerve wrappers for odometry and pose estimation, move wheel positions operations to kinematics ( #6673 )
2024-06-01 11:59:54 -07:00
Peter Johnson
7c8a36f3eb
[wpiutil] Add Struct and Protobuf clone and immutable checks ( #6686 )
2024-06-01 11:58:53 -07:00
Carl Hauser
294c9946ae
[wpimath] PIDController.setIntegratorRange documentation fix ( #6489 )
2024-05-24 11:49:00 -07:00
Jade
6220c6be4d
[wpiutil] Remove RuntimeDetector and simplify RuntimeLoader ( #6600 )
2024-05-24 10:48:59 -07:00
Jade
8834cb1de4
[wpimath] ChassisSpeeds: add equals method ( #6414 )
2024-05-24 10:42:32 -07:00
Ryan Blue
65f4505e3c
[wpimath] Add constraints support to ProfiledPIDController Sendable implementation ( #6354 )
2024-05-24 10:39:56 -07:00
bovlb
badd090538
[wpimath] Document example usage for InterpolatingDoubleTreeMap (NFC) ( #6456 )
2024-05-24 10:35:42 -07:00
ncorrea210
0b5aec82ff
[wpimath] Add ChassisSpeeds::ToTwist2d() to ChassisSpeeds ( #6634 )
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Co-authored-by: Tyler Veness <calcmogul@gmail.com >
2024-05-20 12:19:17 -07:00
Wispy
820f68dc08
[wpimath] Add InterpolatingDoubleTreeMap.ofEntries() ( #6635 )
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Co-authored-by: David Vo <auscompgeek@users.noreply.github.com >
2024-05-20 12:18:28 -07:00
Nicholas Armstrong
7fc17811fa
[wpimath] Add full state support to LinearSystemId functions ( #6554 )
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Co-authored-by: Tyler Veness <calcmogul@gmail.com >
2024-05-15 07:23:22 -06:00
Wispy
2563ff9f18
[wpimath] Add Pair.equals() ( #6580 )
2024-05-06 21:52:59 -07:00
Tyler Veness
e172aa66f7
[wpimath] Java: add static instantiations of common rotations ( #6563 )
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C++ doesn't need this because it supports value types, which are much
cheaper to construct. constexpr is also available to make construction
zero-cost.
2024-05-03 12:39:35 -07:00
Tyler Veness
ae4bcefefc
[wpimath] Fix incorrect docs for Rotation3d default constructor ( #6571 )
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A Rotation3d is not defined by one angle.
2024-05-01 09:06:13 -07:00
Tyler Veness
5359112b15
[wpimath] Deprecate RamseteController ( #6494 )
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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.
2024-04-29 22:01:42 -07:00
Isaac Turner
70417f64da
[wpimath] Remove deprecated TrapezoidProfile constructors ( #6558 )
2024-04-29 21:04:57 -07:00
Isaac Turner
f5e08652f8
[wpimath] Remove deprecated MatBuilder factory ( #6557 )
2024-04-29 21:04:43 -07:00
Nicholas Armstrong
1ec089c7f9
[wpimath] Add ArmFeedforward calculate() overload that takes current and next velocity instead of acceleration ( #6540 )
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Co-authored-by: Tyler Veness <calcmogul@gmail.com >
2024-04-28 12:01:08 -07:00
Joseph Eng
cdfa2ece6f
[wpimath] Add PoseEstimator.sampleAt() ( #6426 )
2024-04-27 21:03:37 -07:00
Isaac Turner
d14dfed828
[wpimath] Rotation2d: add Measure<Angle> getter (Java) ( #6492 )
2024-04-21 20:23:36 -07:00
