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f2dd81c8399db5454eee6f1102930618d117eb2a
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410 Commits

Author SHA1 Message Date
sciencewhiz
f2dd81c839 [build] Add checkstyle check for deprecation (#7738) 
Ensures java deprecated notation is paired with javadoc and vice versa.
Adds javadoc deprecation for MecanumControllerCommand, ArmFeedForward,
ElevatorFeedforward, and MecanumDriveMotorVoltages
Fixes #7736
Supersedes #7737

Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
 2025-06-30 00:09:02 -07:00
ThePixelatedCat
ffe296892c [wpimath] Fix TrapezoidProfile limiting velocity incorrectly (#8030) 2025-06-24 22:36:53 -07:00
Michael Lesirge
fb399eef3d [wpimath] Add copySignPow to MathUtil for joystick input shaping (#8013) 2025-06-15 14:08:41 -07:00
Michael Lesirge
e2517b7a21 [wpimath] Update parameter type from list to general collection (#8020) 2025-06-15 14:08:06 -07:00
Michael Lesirge
c01e318370 [wpimath] Add Translation3d.nearest() (#8015) 2025-06-12 22:14:00 -07:00
Michael Lesirge
075cc4a20f [wpimath] Add nearest() method to Pose3d (mirroring Pose2d) (#8010) 2025-06-05 22:11:49 -07:00
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
Tyler Veness
13626063dc [wpimath] Fix units typo (#7789) 2025-02-13 23:22:44 -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
David Racovan
a14545102f [wpimath] DifferentialDriveWheelPositions: tag as Proto/StructSerializable (#7622) 2025-01-13 14:52:40 -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
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
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
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
sciencewhiz
0a3ccf93c6 [wpimath] Add BangBangController Usage Reporting (#7411) 2024-11-20 17:00:54 -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
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
Peter Johnson
f40bd3593d [wpilib,wpimath] Don't use mutable units for return values (#7369) 
It only saves a single allocation and can cause confusing behavior on the
caller (user) side.
 2024-11-08 18:29:51 -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
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
Nicholas Armstrong
a3b12b3bd9 [wpimath] ChassisSpeeds fromRelative and discretize methods made instance methods (#7115) 2024-10-22 17:23:17 -06:00
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
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