The wpimath library is a new library designed to separate the reusable math functionality
from the common utility library (wpiutil) and the hardware-dependent library (wpilibc/j).
Package names / include file names were NOT changed to minimize breakage. In a future year
it would be good to revamp these for a more uniform user experience and to reduce the risk
of accidental naming conflicts.
While theoretically all of this functionality could be placed into wpiutil, several pieces
of this library (e.g. DARE) are very time-consuming to compile, so it's nice to avoid this
expense for users who only want cscore or ntcore. It also allows for easy future separation
of build tasks vs number of workers on memory-constrained machines.
This moves the following functionality from wpiutil into wpimath:
- Eigen
- ejml
- Drake
- DARE
- wpiutil.math package (Matrix etc)
- units
And the following functionality from wpilibc/j into wpimath:
- Geometry
- Kinematics
- Spline
- Trajectory
- LinearFilter
- MedianFilter
- Feed-forward controllers
Drake is a collection of tools for analyzing robot dynamics and building control systems.
See https://drake.mit.edu/ for details.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This is a derived class of HttpServerConnection that implements the
WebSocket upgrade pieces. This combination is pretty common so is
worth refactoring here.
We already have predefined linear acceleration units and angular
velocity units. This makes defining acceleration constraints for angular
trapezoid profiles more convenient.
No tests were added for this because the base unit conversions are
already tested. Angular acceleration just adds another time dimension.
A typedef for units::dimensionless::dimensionless is defined, which
conflicted with the namespace when we added "using namespace
dimensionless". This patch reverts the "using namespace" directive.
"using" directives were added to pull three of the four relevant
typedefs but avoid the "dimensionless" type conflict.
This issue was first introduced in #2301.
This kind of filter is extremely useful for signals that are susceptible to sudden
outliers - ultrasonics, 1-D LIDAR, and results from vision processing are all
good use-cases.
This also modifies the existing ultrasonic examples accordingly.
This class provides an easy way to forward local ports to another host/port.
This is primarily useful to provide a way to access Ethernet-connected devices
from a computer tethered to the RoboRIO USB port.
The most natural spot to put the shared implementation of this class was into
wpiutil, so a wpiutilJNI library has been added.
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.
This is a move-only variant of std::function to support move-only captures.
Imported from LLVM with some small tweaks (changed to 4 pointer internal storage, warnings fixes).
std::scoped_lock was introduced in C++17 and is strictly better than
std::lock_guard as it supports locking any number of mutexes safely.
It's also easier to use than std::lock for locking multiple mutexes at
once.
This can be dangerous as it refers to a temporary, and GCC 9.0 warns about
its use. Instead add std::initializer_list overloads to common places it
was used in an initializer_list sense.
