The template argument order for UnscentedTransform was reversed to match
all the other UKF classes. Since UnscentedTransform is intended as a
class for internal use only, this shouldn't cause much breakage.
I started with the output of styleguide#217, then renamed a few classes
to fix compilation.
ntcore's StorageTest needed some manual renaming since it put the Test
word in the middle instead of at the end.
One limitation of wpiformat is test cases that were only named "Test"
were unmodified, and an error was generated. These test cases were
manually given more descriptive names:
* TimedRobotTest mode test cases had "Mode" appended to the name. Java
tests were renamed to match.
* UvAsyncTest and UvAsyncFunctionTest cases were given alternate names
Inconsistent names were found using the following regular expressions.
* `rg "TEST(_F|_P)?\(\w+,\s+\w+Test\)"`
* `rg "TEST(_F|_P)?\(\w+,\s+Test\w+\)"`
* `rg "TEST(_F|_P)?\(\w+Tests,\s+\w+\)"`
Fixes#3495.
* Replace Matrix<> with Vector<> where vectors are explicitly intended.
I found these via `rg "Eigen::Matrix<double, \w+, 1>"`.
* Pass all Eigen matrices by const reference. I found these via `rg
"\(Eigen"` on main (the initializer list constructors make more false
positives).
* Replace MakeMatrix() and operator<< usage with initializer list
constructors. I found these via `rg MakeMatrix` and `rg "<<"`
respectively.
* Deprecate MakeMatrix()
Internal headers are no longer allowed as of
https://gitlab.com/libeigen/eigen/-/merge_requests/631. Based on
benchmarking I conducted in that thread, there doesn't seem to be a
performance penalty for including the full headers anymore.
This is an alternative to #2344 that handles arbitrary order derivatives
of arbitrary precision. The downside is that since it's part of
LinearFilter, it can't utilize the units type system in the same way to
make Calculate()'s input type different from its output type.
* Rename Butcher tableau sections in NumericalIntegration such that
top-left is c, top-right is A, and bottom-right is b
* Move edu.wpi.first.math.Discretization to
edu.wpi.first.math.system.Discretization
* Sort Java Discretization to match C++ function order
* Add tests for Java Discretization
* Required adding Runge-Kutta time-varying impl to tests
* Move C++ Runge-Kutta time-varying impl to tests only
* Users don't need it
Our patches for the DARE and [[noreturn]] attributes were merged
upstream. We missed their monthly release window by a day, so we'll use
a commit hash for now.
The current 2021.3.1 release refers to `java/lang/IOException` which causes the following exception when using `toPathweaverJson` or `fromPathweaverJson`:
```
java.lang.NoClassDefFoundError: java/lang/IOException
at edu.wpi.first.math.WPIMathJNI.fromPathweaverJson(Native Method)
at edu.wpi.first.wpilibj.trajectory.TrajectoryUtil.fromPathweaverJson(TrajectoryUtil.java:79)
```
Also refactored RKF45 implementation to match the new style, which is
easier to read.
The tests were switched from RKF45 to RKDP since it's more accurate.
