Peter Johnson
eee30c49e2
[wpilib] Remove LiveWindow ( #7733 )
...
This will be replaced by a different mechanism, but removing it eases
the initial implementation burden of a new Telemetry/Sendable framework.
2025-01-25 10:52:19 -08:00
Peter Johnson
d9f8fded09
Merge branch 'main' into 2027
2025-01-16 23:17:59 -08:00
David Racovan
a14545102f
[wpimath] DifferentialDriveWheelPositions: tag as Proto/StructSerializable ( #7622 )
2025-01-13 14:52:40 -07:00
Tyler Veness
25e6549398
[wpimath] Fix various constexpr support bugs ( #7676 )
2025-01-13 14:44:55 -07:00
ハイドラント
cd92b07321
[wpimath] Add Pose2d and Pose3d rotateAround() ( #7659 )
2025-01-13 12:55:26 -07:00
Tyler Veness
007526089e
[wpimath] Fix LinearSystemId return type and docs ( #7675 )
...
Fixes #7674 .
2025-01-13 12:22:53 -07:00
HarryXChen
e37c35746a
[wpimath] Implement Translation3d.RotateAround ( #7661 )
2025-01-09 20:31:34 -08:00
Tyler Veness
11a0c36737
[wpimath] Make Rotation2d member initialization order match declaration order ( #7632 )
2025-01-03 22:44:17 -08:00
Peter Johnson
a931a6554f
Merge branch 'main' into 2027
2024-12-29 18:22:39 -08:00
sciencewhiz
203487a6aa
[wpimath] improve LTVUnicycleController docs (NFC) ( #7599 )
...
Document the states and inputs so it isn't necessary to look at the code
Fix max velocity throws doc
2024-12-28 16:03:47 -06:00
Tyler Veness
57344ef3b2
[wpimath] Use ct_matrix instead of Eigen/LU for determinant in headers ( #7600 )
...
This caught a bug in ct_matrix's 3x3 determinant.
2024-12-28 16:03:29 -06:00
Tyler Veness
df244cd198
[wpimath] Clean up arm and elevator feedforward APIs ( #7595 )
2024-12-27 08:12:14 -06:00
Peter Johnson
2a757eaeb5
Merge branch 'main' into 2027
2024-12-26 18:55:43 -08:00
Nicholas Armstrong
fe49cbe429
[wpimath] Remove Units class from Elevator and Arm Feedforwards ( #7570 )
2024-12-26 20:21:19 -06:00
Tyler Veness
02a0adc653
[wpimath] Add Rotation3d rotation vector getter ( #7564 )
...
The code churn in Java is just making the function order consistent
between languages.
2024-12-22 13:34:51 -08:00
Tyler Veness
d631fa8e4b
[wpimath] Fix algorithm link (NFC) ( #7569 )
...
Fixes #7568 .
2024-12-22 13:33:07 -08:00
Peter Johnson
529bab6ca1
Merge branch 'main' into 2027
2024-12-19 20:40:37 -08:00
PJ Reiniger
9ccd73108b
[bazel] MVP for building wpilibc + commands framework ( #7231 )
2024-12-18 22:00:40 -08:00
Tyler Veness
03f0fc4dea
[wpimath] Use immutable member functions in ChassisSpeeds ( #7545 )
2024-12-15 16:09:34 -08:00
Peter Johnson
945d416d07
Merge branch 'main' into 2027
2024-12-14 10:45:32 -08:00
Peter Johnson
4bca79b9af
[wpimath] Revert "ChassisSpeeds fromRelative and discretize methods made instance methods ( #7115 )" ( #7549 )
...
This reverts commit a3b12b3bd9
2024-12-14 10:42:49 -08:00
Joseph Eng
4225b732fd
Remove unnecessary boxing ( #7539 )
...
* Remove unnecessary boxing
Also remove unnecessary warning suppression
* Use more idiomatic functional interfaces in NumericalIntegration
2024-12-12 19:18:40 -08:00
Wispy
cc41a0ed24
[wpilib] Replace MecanumDriveMotorVoltages with a functional interface ( #6760 )
2024-12-08 17:05:06 -08:00
Thad House
b6ae9e9cc9
Merge branch 'main' into 2027
2024-12-08 12:04:23 -08:00
Tyler Veness
220f4e1ba4
[wpimath] Remove RamseteController and RamseteCommand ( #7522 )
2024-12-07 23:38:35 -08:00
Tyler Veness
d5edb4060d
[upstream_utils] Upgrade Sleipnir ( #7512 )
...
It now uses SQP for problems without inequality constraints, which is
faster.
main:
```
[ RUN ] Ellipse2dTest.DistanceToPoint
0.203 ms
[ OK ] Ellipse2dTest.DistanceToPoint (0 ms)
[ RUN ] Ellipse2dTest.FindNearestPoint
0.019 ms
[ OK ] Ellipse2dTest.FindNearestPoint (0 ms)
```
upgrade:
```
[ RUN ] Ellipse2dTest.DistanceToPoint
0.197 ms
[ OK ] Ellipse2dTest.DistanceToPoint (0 ms)
[ RUN ] Ellipse2dTest.FindNearestPoint
0.015 ms
[ OK ] Ellipse2dTest.FindNearestPoint (0 ms)
```
2024-12-07 23:02:39 -08:00
Tyler Veness
e08fdeba21
[wpimath] Rename FindNearestPoint() to Nearest() ( #7513 )
...
This is easier to type and follows the naming of Pose2d::Nearest().
Since Ellipse2d and Rectangle2d were added for the 2025 season, we don't
need to add deprecation notices.
2024-12-07 23:01:18 -08:00
Tyler Veness
4910436b10
[wpimath] Remove LUTs from LTV controllers ( #7521 )
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The Raspberry Pi 5 is fast enough that we no longer need it.
```
Running ./build/DAREBench
Run on (4 X 2400 MHz CPU s)
CPU Caches:
L1 Data 64 KiB (x4)
L1 Instruction 64 KiB (x4)
L2 Unified 512 KiB (x4)
L3 Unified 2048 KiB (x1)
Load Average: 0.47, 0.72, 0.45
***WARNING*** CPU scaling is enabled, the benchmark real time measurements may be noisy and will incur extra overhead.
-------------------------------------------------------------------------------
Benchmark Time CPU Iterations
-------------------------------------------------------------------------------
DARE_WPIMath_Dynamic 34.4 us 34.4 us 20315
DARE_WPIMath_NoPrecondChecks_Dynamic 21.7 us 21.7 us 32266
DARE_WPIMath_Static 15.2 us 15.2 us 45878
DARE_WPIMath_NoPrecondChecks_Static 7.84 us 7.84 us 89316
DARE_SLICOT 79.4 us 79.4 us 8789
DARE_Drake 34.9 us 34.9 us 20074
```
2024-12-07 23:00:15 -08:00
Tyler Veness
a7349f00ef
[wpimath] Fix duplicate Rotation2d constructor ( #7524 )
2024-12-07 22:31:09 -08:00
Peter Johnson
32ba751e58
Merge branch 'main' into 2027
2024-12-07 21:30:28 -08:00
Tyler Veness
62a6a77bbf
[wpimath] Add affine transformation constructors and getters to geometry API ( #7509 )
...
Fixes #7429 .
2024-12-07 21:29:02 -08:00
Tyler Veness
c497e4ec22
[wpimath] Fix SimpleFeedforward overload set ( #7516 )
2024-12-07 20:32:16 -08:00
Tyler Veness
e222efaa01
[wpimath] Add affine transformation constructors and getters to geometry API ( #7430 )
...
Fixes #7429 .
2024-12-07 15:49:17 -08:00
Peter Johnson
52b33edcbd
Merge branch 'main' into 2027
2024-12-07 14:11:47 -08:00
Tyler Veness
278efa6384
[upstream_utils] Remove Sleipnir patches no longer needed with GCC 11 ( #7491 )
2024-12-07 12:36:25 -08:00
Tyler Veness
882233bede
[wpimath] Improve SimpleMotorFeedforward argument names and deprecation message ( #7489 )
...
Also roll back SimpleMotorFeedforward unit API until 2027.
2024-12-06 22:32:40 -08:00
Tyler Veness
144e79a614
[wpimath] Remove Rotation2d value field ( #7490 )
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It's not part of SO(2).
2024-12-06 21:00:09 -08:00
sciencewhiz
892e062316
[hal,wpilib,wpimath] Add Usage Reporting for Choreo and PathWeaver ( #7464 )
2024-11-30 20:33:09 -08:00
Tyler Veness
a0af0fd572
[wpimath] Remove redundant internal DARE function ( #7442 )
2024-11-28 21:24:13 -08:00
Joseph Eng
59dbfc9c2d
[wpimath] Improve C++ SimpleMotorFeedforward unit type support ( #7440 )
...
Allow using non-base types
Allow using angles for serde
2024-11-27 23:02:31 -08:00
sciencewhiz
0a3ccf93c6
[wpimath] Add BangBangController Usage Reporting ( #7411 )
2024-11-20 17:00:54 -08:00
Gold856
4c225ef2c1
[wpimath] Add proto files back to JAR ( #7414 )
...
PhotonVision depends on these being in the JAR to generate quickbuf classes.
2024-11-20 07:59:37 -08:00
Peter Johnson
661c321fe2
[upstream_utils] Restore Eigen intellisense fix ( #7404 )
...
This reverts commit d1de7663d3
2024-11-17 19:11:25 -08:00
Tyler Veness
d1de7663d3
[upstream_utils] Remove Eigen intellisense fix ( #7397 )
...
FRC Code intellisense continued to work in developerRobot with a QR
decomposition.
2024-11-16 22:16:11 -08:00
Sam Carlberg
ded7c87d63
[wpimath] Remove units from trapezoid profile classes ( #7276 )
2024-11-16 07:57:38 -08:00
Joseph Eng
2acf111f56
[wpimath] Add 3D odometry and pose estimation ( #7119 )
2024-11-16 07:56:14 -08:00
Tyler Veness
aa7dd258c4
[wpimath] Replace constexpr coeff() and coeffRef() with operator() ( #7391 )
2024-11-16 07:44:20 -08:00
Jonah Bonner
ca51197486
[wpilib] Add timestamp getters with configurable time base ( #7378 )
2024-11-16 07:43:38 -08:00
Kavin Muralikrishnan
07345712dc
[wpimath] Document default tolerances of PIDController ( #7377 )
2024-11-12 18:19:55 -05:00
Joseph Eng
425bf83036
[wpimath] Add 2D to 3D geometry constructors ( #7380 )
2024-11-12 18:18:37 -05:00
