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450 Commits

Author SHA1 Message Date
Lucien Morey
f14af97dc7 [wpimath] Support dynamic matrix sizes in StateSpaceUtil (#7942) 2025-04-29 11:58:28 -06:00
Nolan Barker
40ce42712f [wpimath] Fix coordinate frame docs in HolonomicDriveController (#7938) 2025-04-28 16:27:38 -07:00
crueter
0695a4db89 [wpimath] Fix Debouncer type-changing behavior (#7870) 
Closes #7867

Properly resets the baseline upon switching the debounce type, and adds
a test for such.

Signed-off-by: swurl <swurl@swurl.xyz>
 2025-04-25 22:05:31 -07:00
me-it-is
3960045663 [wpimath] TrapezoidProfile: Fix null pointer when calling timeLeftUntil (#7894) 2025-04-25 21:58:05 -07:00
Joseph Eng
d98ad815b1 [wpimath] Adjust applyDeadband logic (#7816) 
Reduces nesting by returning when the value is within the deadband.

Adjusts the algorithm to handle large values of maxMagnitude naturally (instead of needing a separate check).

Reformats the math comments.
 2025-04-23 08:41:03 -06:00
Tyler Veness
c13b2f45c1 [wpimath] Update link to Ramsete controller derivation (#7887) 
The derivation was moved from the Controls Engineering in FRC book to a
separate paper.
 2025-03-30 16:25:08 -07:00
Jack Cammarata
1efaaefd78 [wpimath] Fix UnscentedKalmanFilter and improve math docs (#7850) 
Throughout the code the state sqrt covariance S and innovation covariance Sy are maintained as upper triangular cholesky factors of those covariance matrices. The original paper defines P=S*S', so S should be lower triangular. The functions in the paper reflect this. In the code implementation, the sqrt covariance matrices are upper triangular, but the algorithm expects them to be lower triangular.

This bug was likely missed because the incorrect version of the filter is able to converge for some systems where all the states are observed, and the test case is set up such that all states are observed.

To fix the bug, a couple things needed to be changed:
all instances of rankUpdate() needed to be changed to use the lower triangular cholesky factor,
In the unscented transform, when S is found via QR decomposition, we need to take the transpose because R is upper triangular,
P() and SetP() functions need to be modified to be P=S*S' instead of P=S'*S, and P.llt().matrixL() instead of P.llt().matrixU() respectively.

Each part of the algorithm has also had the comments changed to clarify exactly which equation from the paper it implements.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2025-03-14 10:05:15 -07:00
crueter
0ad595c33c [wpimath] Add Debouncer type and time setters (#7839) 
Signed-off-by: swurl <swurl@swurl.xyz>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2025-03-03 17:21:38 -07:00
Tyler Veness
822457d45b [wpimath] Fix feedforward returning NaN when kᵥ = 0 (#7790) 2025-02-25 19:07:51 -08:00
Adrien Bourdeaux
75321f1d84 [wpimath] Add Translation2d/Translation3d slew rate limiter (#7806) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
 2025-02-25 19:06:00 -08:00
Peter Johnson
7e6077c546 [wpimath] Fix up order and docs for Feedforward gain setters (#7788) 2025-02-13 23:20:08 -08:00
Jade
4d126b158c [wpimath] Add setters to Feedforward gains (#7784) 
Signed-off-by: Jade Turner <spacey-sooty@proton.me>
 2025-02-13 21:09:28 -08:00
Joseph Eng
296986397b [wpimath] Document drift from desaturating discretized chassis speeds (NFC) (#7741) 2025-02-03 11:46:18 -07:00
Matthew Wozniak
8fc3767b30 [wpimath] Fix macro name typo (#7707) 2025-01-17 22:19:21 -08:00
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
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
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
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
e222efaa01 [wpimath] Add affine transformation constructors and getters to geometry API (#7430) 
Fixes #7429.
 2024-12-07 15:49:17 -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
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
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
Thad House
3cc541f261 Remove generated google protobuf support (#7371) 
It's not used anymore, and cleans up the build.
 2024-11-08 18:29:30 -08:00
Tyler Veness
661bae568f [wpimath] Add time-varying RKDP (#7362) 
This makes the ground truth for the Taylor series AQ discretization more
accurate.
 2024-11-07 23:46:52 -08:00
Thad House
8b8b634f65 [wpiutil] Change C++ protobuf to nanopb (#7309) 
The Google C++ protobuf implementation has issues with dynamic linkage across DLL boundaries because it uses global variables.  It also has a compile-time dependency because the protoc version must exactly match the libprotobuf version.  Using nanopb with a customized generator fixes both of these issues.

Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
 2024-11-07 22:42:50 -08:00
Tyler Veness
a66fa339dc [wpimath] Make controllers and some trajectory classes constexpr (#7343) 2024-11-07 14:02:11 -07:00
Tyler Veness
63e623d70b [wpimath] Fix case and order of HolonomicDriveController PID getters (#7342) 2024-11-05 09:50:17 -07:00
Tyler Veness
dfd1084526 [wpimath] Replace pi with symbol in docs (#7322) 2024-11-01 17:16:18 -07:00
Tyler Veness
9f6f267f5c [wpimath] DARE: Use wpi::expected instead of exceptions (#7312) 2024-10-31 20:37:57 -07:00
Tyler Veness
defcc02806 [wpimath] Clean up LTV controller includes (#7313) 2024-10-29 23:03:17 -07:00
Tyler Veness
05c7fd929b [wpimath] Make various classes constexpr (#7237) 2024-10-22 07:58:06 -06:00
Tyler Veness
0c824bd447 [wpimath] Take finite difference stencil points by const ref (#7238) 2024-10-21 22:33:56 -07:00
Joseph Eng
6745fc7c2f [wpimath] Fix C++ pose estimator poseEstimate initialization (#7249) 2024-10-21 22:29:04 -07:00
Tyler Veness
95b9bd880b [wpimath] Make geometry classes constexpr (#7222) 2024-10-18 16:08:41 -07:00
Joseph Eng
2054d0f57e [wpimath] Fix pose estimator reset methods (#7225) 2024-10-18 16:06:32 -07:00
Tyler Veness
ee281ea448 [wpimath] Merge .inc files into headers (#7209) 
Splitting the files didn't help readability or save compilation time and
it confused contributors. Merging them is also in line with how C++
modules will be written.
 2024-10-14 16:08:10 -07:00
Nicholas Armstrong
4adfa8bf64 [wpimath] Fully discretized ElevatorFF and ArmFF (#7024) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2024-10-10 22:10:45 -07:00
Bryce Roethel
d97a749d84 [wpimath] SwerveDrivePoseEstimator: Fix stationary module emitting error when calculating angle in ToSwerveModuleStates (#7175) 2024-10-10 22:05:49 -07:00