This adds a wrapper over EJML's SimpleMatrix that uses generated classes representing numbers to encode the dimensions of each matrix at compile time, and to check operations between matrices for validity at compile time, rather than failing with an exception at runtime. This is required for the Java implementation of state-space control.
Additions to the wpiutil gradle script, and a python script at the wpiutil root are used to generate numeric types from a template at build time for both gradle and cmake. Users will be able to access types through functions on the Nat class.
Add unit-taking overloads to the following classes:
- IterativeRobotBase
- LinearFilter
- Notifier
- TimedRobot
- Timer (HasPeriodPassed only)
- frc2::PIDController
The corresponding non-units-taking functions have been deprecated.
The return value of TimedRobot::GetPeriod() was updated.
This is a breaking change, users should use to<double> to get the value in seconds.
Other return values, e.g. Timer::Get(), have NOT been updated due to much wider use.
Was only there for mac usb cam support, but we likely won't get to it this summer anyway,
and its causing a breakage in the backing libraries with cross builds
Teams that wish to use it asynchronously may still do so - they simply need to handle the thread safety themselves (it is not that difficult, and can be done more cleanly in the calling code anyway).
The main change in OpenCV 4 was removing its C APIs from OpenCV 1. If
the user has OpenCV 4, they have no way of obtaining the correct
arguments for cscore functions that require the C API. Therefore, we can
fix the build by just not compiling in functions reliant on the C API if
OpenCV 4 is being used.
OpenCV 3 builds should continue to work with this change.
Instead of being called asynchronously by NetworkTables, they are now called by updateValues() synchronously with the main loop, just like the getters.
The mutexes in PIDControllerRunner are declared after the Notifier, and
when the PIDControllerRunner object is destructed, the member object
destructors are called in the reverse order in which they are declared.
The mutexes are destructed first, then the Notifier destructor is called
which stops the Notifier.
There's a window between those destructor calls during which the
Notifier can run the callable and attempt to lock a mutex that no longer
exists.
Declaring the Notifier after all the variables its callable uses fixes
this issue, as it ensures the Notifier is destructed first.
Add EJML as the Java library for linear algebra for use in wpilib. This is equivalent to Eigen for C++.
The EJML dependency is downloaded in cmake and pulled in via maven in the gradle build.
It drastically increases compile times and is bad style. C++ users
should be including what they use. We don't necessarily have to remove
WPILib.h, but it should at least be deprecated.
This imports Eigen 3.3.7, which will be used by the wpilibc implementation of
state-space control and mecanum/swerve forward kinematics (the forward
kinematics requires least-squares solutions via a matrix pseudoinverse).
While Eigen has parts licensed under BSD, MINPACK, and MPL2, the files we need
are only MPL2.
These classes introduce ways to represent poses and provide easy ways to transform, rotate, and translate poses across 2d space. This classes will be especially useful for a planned odometry and kinematics suite.
Furthermore, these classes can also be used to simply represent waypoints on a field, do superstructure motion planning, etc.
Using std::function<void()> directly makes it much clearer to the user
what kind of function Notifier expects. The Doxygen comments already say
what the function is used for, so the typedef just discards useful
information.
