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242 Commits

Author SHA1 Message Date
Joseph Eng
faf3cecd83 [wpimath] Don't copy Matrix and underlying storage in VecBuilder (#5524) 2023-08-09 22:15:39 -07:00
Joseph Eng
b5bd0771eb [wpimath] Document extrinsic vs intrinsic rotations (NFC) (#5508) 2023-08-06 19:59:42 -07:00
Ryan Blue
90e37a129f [wpiutil,wpimath] Add generic InterpolatingTreeMap (#5372) 2023-08-03 21:46:17 -07:00
Tyler Veness
6db2c42966 [wpimath] Trajectory: Throw on empty lists of States (#5497) 
Fixes #4141.
 2023-08-03 08:24:20 -07:00
Tyler Veness
21439b606c [wpimath] Disallow LTV controller max velocities above 15 m/s (#5495) 
15 m/s is about 50 ft/s, which is way above what FRC robots should be
able to achieve. This limit lets us catch user errors from bad unit
conversions immediately instead of the LUT generation in the LTV
controllers hanging for a really long time.

Fixes #5027.
 2023-08-02 23:37:49 -07:00
Joseph Eng
0c93aded8a [wpimath] Change kinematics.ToTwist2d(end - start) to kinematics.ToTwist2d(start, end) (#5493) 2023-08-01 22:25:26 -07:00
Tyler Veness
815a8403e5 [wpimath] Give infeasible trajectory constraints a better exception message (#5492) 
Fixes #3146.
 2023-07-31 21:43:22 -07:00
Tyler Veness
35a8b129d9 [wpimath] Add RotateBy() function to pose classes (#5491) 
Fixes #5472.
 2023-07-31 21:16:44 -07:00
Tyler Veness
a01b6467d3 [wpimath] Link to docs on LQR and KF tolerances (#5486) 
Fixes #4151.
 2023-07-31 19:17:44 -07:00
Tyler Veness
d814f1d123 [wpimath] Fix copy-paste error from Pose2d docs (NFC) (#5490) 2023-07-31 19:17:17 -07:00
Joseph Eng
2ba8fbb6f4 [wpimath] Improve documentation for SwerveModulePosition::operator- (#5468) 2023-07-24 22:46:59 -07:00
Mihir Patankar
552f4b76b5 [wpimath] Add FOC-enabled Falcon constants to the DCMotor class (#5469) 2023-07-24 20:16:48 -07:00
Gold856
86e91e6724 [wpimath] Refactor TrapezoidProfile API (#5457) 2023-07-19 17:25:10 -07:00
Joseph Eng
657338715d [wpimath] Add ChassisSpeeds method to fix drifting during compound swerve drive maneuvers (#5425) 2023-07-18 21:19:55 -07:00
Joseph Eng
6f7cdd460e [wpimath] Pose3d: Switch to JNI for exp and log (#5444) 
The pure Java implementations allocate a lot of temporary objects, and the JNI implementation is substantially more performant.
 2023-07-18 16:32:11 -07:00
camaj
c69e34c80c [wpimath] ChassisSpeeds: Add arithmetic functions (#5293) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-07-18 16:30:21 -07:00
Joseph Eng
593767c8c7 [wpimath] Improve Euler angle calculations in gimbal lock (#5437) 2023-07-17 17:19:42 -07:00
Gold856
991f4b0f62 [wpimath] PIDController: Add IZone (#5315) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2023-06-19 23:01:01 -07:00
Gold856
f5b0d1484b [wpimath] Add isNear method to MathUtil (#5353) 
This method is used to check if the given value matches an expected value within a certain tolerance.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2023-06-19 23:00:07 -07:00
Gold856
5fc4aee2d2 [wpimath] SwerveDriveKinematics: Rename currentChassisSpeed to desiredChassisSpeed (#5393) 2023-06-19 22:58:38 -07:00
Gold856
50b90ceb54 [wpimath] SwerveDriveKinematics: Add reset method (#5398) 
Adds a reset method where teams can pass in module headings for the kinematics object to use if it gets an all-zero ChassisSpeeds while converting ChassisSpeeds to module states. Also removes internal states array, replacing it with an internal headings array.
 2023-06-19 22:57:55 -07:00
Ryan Blue
d6bd72d738 [wpimath] ProfiledPIDController: Add getConstraints (#5399) 2023-06-19 17:11:20 -07:00
Joseph Eng
25ad5017a9 [wpimath] Refactor kinematics, odometry, and pose estimator (#5355) 2023-06-19 17:10:39 -07:00
Ryan Blue
901ab693d4 [wpimath] Use UtilityClassTest for more utility classes (#5384) 2023-06-08 21:11:26 -07:00
Tyler Veness
91cbcea841 Replace SFINAE with concepts (#5361) 
Concepts are cleaner to use and result in much better error messages for incorrect template use.
 2023-06-07 09:50:09 -07:00
Tyler Veness
eed1e6e3cb [wpimath] Replace DiscretizeAQTaylor() with DiscretizeAQ() (#5344) 
Until #5339 is fixed, we have to use the slower, more accurate version.
 2023-05-18 07:13:20 -07:00
Tyler Veness
52bd5b972d [wpimath] Rewrite DARE solver (#5328) 
I timed the DARE unit tests, and the new solver is 0 to 100% faster in
all cases (that is, it's at least as fast as Drake's and up to 2x faster
in some cases).

The new solver is also much simpler, takes less time to compile, and
drops the libwpimath.so size from 325 MB to 301 MB.

I think most of the compilation time is coming from the eigenvalue
decompositions used to enforce argument preconditions.
 2023-05-14 22:23:00 -07:00
Tyler Veness
21d4244cf7 [wpimath] Fix DCMotor docs (NFC) (#5309) 2023-05-07 22:56:05 -07:00
Gold856
24828afd11 [wpimath] Fix desaturateWheelSpeeds to account for negative speeds (#5269) 2023-04-28 20:53:20 -07:00
Tyler Veness
e099948a77 [wpimath] Clean up rank notation in docs (NFC) (#5274) 2023-04-28 20:52:29 -07:00
Sriman Achanta
ba8c64bcff [wpimath] Fix misspelled Javadoc parameters in pose estimators (NFC) (#5292) 2023-04-28 20:51:47 -07:00
Tyler Veness
63512bbbb8 [wpimath] Fix potential divide-by-zero in RKDP (#5242) 
If f(x, u) has no dynamics, the truncation error can be zero.
 2023-03-26 17:00:09 -07:00
nt
08f298e4cd [wpimath] Fix Pose3d log returning Twist3d NaN for theta between 1E-8 and 1E-7 (#5168) 2023-03-13 21:27:32 -07:00
nt
099d048d9e [wpimath] Fix Pose3d log returning Twist3d NaN for theta between 1E-9 and 1E-8 (#5143) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-02-26 16:41:36 -08:00
sciencewhiz
4af84a1c12 Fix Typos (NFC) (#5137) 2023-02-26 15:06:37 -08:00
Tyler Veness
ce3686b80d [wpimath] Check LTV controller max velocity precondition (#5142) 2023-02-26 15:05:41 -08:00
Jonah
e9a7bed988 [wpimath] Add timestamp getter to MathShared (#5091) 
This makes it possible to mock the timestamp for wpimath without affecting the rest of the library.

Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
 2023-02-17 14:53:17 -08:00
Tyler Veness
74dea9f05e [wpimath] Fix exception for empty pose buffer in pose estimators (#5106) 
Fixes #5100.
 2023-02-16 22:00:21 -08:00
Jordan McMichael
59be120982 [wpimath] Fix Pose3d exp()/log() and add rotation vector constructor to Rotation3d (#5072) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-02-08 21:31:03 -08:00
Tyler Veness
2f310a748c [wpimath] Fix DCMotor.getSpeed() (#5061) 
This bug didn't occur in C++ because the units system caught it at
compile time.
 2023-02-05 13:21:16 -08:00
Jordan McMichael
4079eabe9b [wpimath] Discard stale pose estimates (#5045) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-02-03 22:04:30 -08:00
Ryan Blue
7b828ce84f [wpimath] Add nearest to Pose2d and Translation2d (#4882) 
Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>
 2023-02-03 15:27:16 -08:00
Tyler Veness
8bf67b1b33 [wpimath] PIDController::Calculate(double, double): update setpoint flag (#5021) 
Fixes #5020.
 2023-01-29 07:18:48 -08:00
Tyler Veness
d48a83dee2 [wpimath] Update Wikipedia links for quaternion to Euler angle conversion (NFC) (#4995) 2023-01-21 15:16:35 -08:00
Jordan McMichael
42c997a3c4 [wpimath] Fix Pose3d exponential and clean up Pose3d logarithm (#4970) 
Implementation based on this paper: https://ethaneade.org/lie.pdf
 2023-01-18 20:38:03 -08:00
Oliver W
a8c465f3fb [wpimath] HolonomicDriveController: Add getters for the controllers (#4948) 2023-01-16 08:33:15 -08:00
sciencewhiz
1e05b21ab5 [wpimath] Fix PID atSetpoint to not return true prematurely (#4906) 
Wait until setpoint and measurement have been set.
 2023-01-13 22:26:30 -08:00
ohowe
e5a6197633 [wpimath] Fix SwerveDriveKinematics not initializing a new array each time (#4942) 
This is problematic if you call it twice before utilizing the result.
 2023-01-13 20:16:50 -08:00
Matt
f7f19207e0 [wpimath] Allow multiple vision measurements from same timestamp (#4917) 
Co-authored-by: Jordan McMichael <jlmcmchl@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-01-11 23:04:30 -08:00
ohowe
330ba45f9c [wpimath] Fix swerve kinematics util classes equals function (#4907) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-01-08 16:29:35 -08:00