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e814595ea732be6d74ac5dee827b0121369c4be0
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266 Commits

Author SHA1 Message Date
Brayden Zee
e814595ea7 [wpimath] Add ChassisSpeeds.fromRobotRelativeSpeeds() (#5744) 2023-10-17 10:13:04 -07:00
narmstro2020
f98c943445 [wpimath] LinearSystemId: Add DCMotorSystem overload (#5770) 
The goal of this addition is to allow LinearSystemId.createDCMotorSystem to use kV and KA instead of the moment of inertia, DCMotor object, and gearing.
 2023-10-17 10:11:34 -07:00
Jordan McMichael
896772c750 [wpimath] Add DCMotor functions for Kraken X60 and Neo Vortex (#5759) 2023-10-14 21:52:01 -07:00
Tyler Veness
fd427f6c82 [wpimath] Fix hardcoded module count in SwerveDriveKinematics.resetHeading() (#5762) 
Fixes #5761.
 2023-10-14 21:51:15 -07:00
Anit Mangal
c0b4c6cce6 [wpimath] Add overloads for Transform2d and Transform3d (#5757) 
Adds overloads for Transform2d() constructor to accept x, y, and heading and for Transform3d() to accept x, y, z and rotation as a shorthand for the normal constructors.
 2023-10-12 23:21:39 -07:00
narmstro2020
faa1e665ba [wpimath] Add ElevatorFeedforward.calculate(currentV, nextV) overload (#5715) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-10-09 08:16:45 -07:00
Jordan McMichael
33243f982b [wpimath] Expand Quaternion class with additional operators (#5600) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-10-08 16:42:53 -07:00
Ryan Blue
4da5aee88a [wpimath] Remove SlewRateLimiter 2 argument constructor (#5648) 
Deprecated in #4377
 2023-09-16 22:04:29 -07:00
Tyler Veness
a9ab08f48b [wpimath] Rename ChassisSpeeds.fromDiscreteSpeeds() to discretize() (#5616) 
This better reflects what's actually going on mathematically.
 2023-09-08 20:14:59 -07:00
Tyler Veness
8e05983a4a [wpimath] Add math docs to plant inversion feedforward internals (NFC) (#5618) 2023-09-08 20:14:24 -07:00
Gold856
8e2465f8a0 [wpimath] Add arithmetic functions to wheel speeds classes (#5465) 2023-08-31 11:57:24 -07:00
Tyler Veness
10d4f5b5df [wpimath] Clean up notation in DARE precondition docs (#5595) 2023-08-31 11:56:41 -07:00
Gold856
4e0d785356 [wpimath] ChassisSpeeds: document that values aren't relative to the robot (NFC) (#5551) 2023-08-30 13:22:42 -07:00
Tyler Veness
b7657a8e28 [wpimath] Split WPIMathJNI into logical chunks (#5552) 
This makes things easier to find, and speeds up compilation.
 2023-08-29 09:00:19 -07:00
Tyler Veness
e322ab8e46 [wpimath] Fix docs for DARE ABQRN stabilizability check (NFC) (#5579) 2023-08-28 15:10:42 -07:00
Tyler Veness
7889b35b67 [wpimath] Add RamseteController comparison to LTV controller docs (NFC) (#5559) 2023-08-24 00:04:54 -07:00
Tyler Veness
8f3d6a1d4b [wpimath] Remove discretizeAQTaylor() (#5562) 
It gives incorrect results. Any replacement should just be an
implementation detail of discretizeAQ().

Closes #5339.
 2023-08-23 10:47:32 -07:00
Tyler Veness
96f7fa662e Upgrade Maven dependencies (#5553) 
The following source code changes were required:

* Whitespace changes from spotless
* PMD warning suppressions for utility class tests
* PMD warning rename from "BeanMembersShouldSerialize" to
  "NonSerializableClass"
* Declared more class members as final
 2023-08-18 19:18:33 -07:00
Tyler Veness
0cf6e37dc1 [wpimath] Make LTV controller constructors use faster DARE solver (#5543) 
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.
 2023-08-17 13:56:15 -07:00
Joseph Eng
7a37e3a496 [wpimath] Correct Rotation3d::RotateBy doc comment (NFC) (#5541) 
Improve transform doc comment consistency
 2023-08-15 13:12:09 -07:00
Tyler Veness
394cfeadbd [wpimath] Use SDA algorithm instead of SSCA for DARE solver (#5526) 
Both seem to work, but the SDA algorithm is specifically recommended for
solving DAREs as opposed to P-DAREs.

The QR decomposition was replaced with a partial pivoting LU
decomposition at the recommendation of section 2.4 of the paper.

More tests and a separate JNI function for each DARE solver variant were
added.
 2023-08-12 19:45:45 -07:00
amquake
8121566258 [wpimath] Fix CoordinateSystem.convert() Transform3d overload (#5532) 2023-08-12 15:20:22 -07:00
Tyler Veness
e8b5d44752 [wpimath] Make Java Quaternion use doubles instead of Vector (#5525) 
This avoids allocation overhead on construction. times() was also
rewritten to not allocate any temporary objects.

Getter calls in the C++ Quaternion class were modified for parity.
 2023-08-11 23:27:29 -07:00
Tyler Veness
00450c3548 [wpimath] Upgrade to EJML 0.42 (#5531) 2023-08-11 23:25:43 -07:00
Joseph Eng
faf3cecd83 [wpimath] Don't copy Matrix and underlying storage in VecBuilder (#5524) 2023-08-09 22:15:39 -07:00
Joseph Eng
b5bd0771eb [wpimath] Document extrinsic vs intrinsic rotations (NFC) (#5508) 2023-08-06 19:59:42 -07:00
Ryan Blue
90e37a129f [wpiutil,wpimath] Add generic InterpolatingTreeMap (#5372) 2023-08-03 21:46:17 -07:00
Tyler Veness
6db2c42966 [wpimath] Trajectory: Throw on empty lists of States (#5497) 
Fixes #4141.
 2023-08-03 08:24:20 -07:00
Tyler Veness
21439b606c [wpimath] Disallow LTV controller max velocities above 15 m/s (#5495) 
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.
 2023-08-02 23:37:49 -07:00
Joseph Eng
0c93aded8a [wpimath] Change kinematics.ToTwist2d(end - start) to kinematics.ToTwist2d(start, end) (#5493) 2023-08-01 22:25:26 -07:00
Tyler Veness
815a8403e5 [wpimath] Give infeasible trajectory constraints a better exception message (#5492) 
Fixes #3146.
 2023-07-31 21:43:22 -07:00
Tyler Veness
35a8b129d9 [wpimath] Add RotateBy() function to pose classes (#5491) 
Fixes #5472.
 2023-07-31 21:16:44 -07:00
Tyler Veness
a01b6467d3 [wpimath] Link to docs on LQR and KF tolerances (#5486) 
Fixes #4151.
 2023-07-31 19:17:44 -07:00
Tyler Veness
d814f1d123 [wpimath] Fix copy-paste error from Pose2d docs (NFC) (#5490) 2023-07-31 19:17:17 -07:00
Joseph Eng
2ba8fbb6f4 [wpimath] Improve documentation for SwerveModulePosition::operator- (#5468) 2023-07-24 22:46:59 -07:00
Mihir Patankar
552f4b76b5 [wpimath] Add FOC-enabled Falcon constants to the DCMotor class (#5469) 2023-07-24 20:16:48 -07:00
Gold856
86e91e6724 [wpimath] Refactor TrapezoidProfile API (#5457) 2023-07-19 17:25:10 -07:00
Joseph Eng
657338715d [wpimath] Add ChassisSpeeds method to fix drifting during compound swerve drive maneuvers (#5425) 2023-07-18 21:19:55 -07:00
Joseph Eng
6f7cdd460e [wpimath] Pose3d: Switch to JNI for exp and log (#5444) 
The pure Java implementations allocate a lot of temporary objects, and the JNI implementation is substantially more performant.
 2023-07-18 16:32:11 -07:00
camaj
c69e34c80c [wpimath] ChassisSpeeds: Add arithmetic functions (#5293) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-07-18 16:30:21 -07:00
Joseph Eng
593767c8c7 [wpimath] Improve Euler angle calculations in gimbal lock (#5437) 2023-07-17 17:19:42 -07:00
Gold856
991f4b0f62 [wpimath] PIDController: Add IZone (#5315) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2023-06-19 23:01:01 -07:00
Gold856
f5b0d1484b [wpimath] Add isNear method to MathUtil (#5353) 
This method is used to check if the given value matches an expected value within a certain tolerance.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2023-06-19 23:00:07 -07:00
Gold856
5fc4aee2d2 [wpimath] SwerveDriveKinematics: Rename currentChassisSpeed to desiredChassisSpeed (#5393) 2023-06-19 22:58:38 -07:00
Gold856
50b90ceb54 [wpimath] SwerveDriveKinematics: Add reset method (#5398) 
Adds a reset method where teams can pass in module headings for the kinematics object to use if it gets an all-zero ChassisSpeeds while converting ChassisSpeeds to module states. Also removes internal states array, replacing it with an internal headings array.
 2023-06-19 22:57:55 -07:00
Ryan Blue
d6bd72d738 [wpimath] ProfiledPIDController: Add getConstraints (#5399) 2023-06-19 17:11:20 -07:00
Joseph Eng
25ad5017a9 [wpimath] Refactor kinematics, odometry, and pose estimator (#5355) 2023-06-19 17:10:39 -07:00
Ryan Blue
901ab693d4 [wpimath] Use UtilityClassTest for more utility classes (#5384) 2023-06-08 21:11:26 -07:00
Tyler Veness
91cbcea841 Replace SFINAE with concepts (#5361) 
Concepts are cleaner to use and result in much better error messages for incorrect template use.
 2023-06-07 09:50:09 -07:00
Tyler Veness
eed1e6e3cb [wpimath] Replace DiscretizeAQTaylor() with DiscretizeAQ() (#5344) 
Until #5339 is fixed, we have to use the slower, more accurate version.
 2023-05-18 07:13:20 -07:00