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e767605e94
This makes complex code significantly easier to read. frc::Vectord<Size> = Eigen::Vector<double, Size> frc::Matrixd<Rows, Cols> = Eigen::Matrix<double, Rows, Cols>
124 lines
4.0 KiB
C++
124 lines
4.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <wpi/numbers>
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#include "frc/EigenCore.h"
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#include "frc/MathUtil.h"
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namespace frc {
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/**
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* Subtracts a and b while normalizing the resulting value in the selected row
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* as if it were an angle.
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*
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* @tparam States The number of states.
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* @param a A vector to subtract from.
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* @param b A vector to subtract with.
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* @param angleStateIdx The row containing angles to be normalized.
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*/
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template <int States>
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Vectord<States> AngleResidual(const Vectord<States>& a,
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const Vectord<States>& b, int angleStateIdx) {
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Vectord<States> ret = a - b;
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ret[angleStateIdx] =
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AngleModulus(units::radian_t{ret[angleStateIdx]}).value();
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return ret;
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}
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/**
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* Returns a function that subtracts two vectors while normalizing the resulting
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* value in the selected row as if it were an angle.
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*
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* @tparam States The number of states.
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* @param angleStateIdx The row containing angles to be normalized.
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*/
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template <int States>
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std::function<Vectord<States>(const Vectord<States>&, const Vectord<States>&)>
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AngleResidual(int angleStateIdx) {
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return [=](auto a, auto b) {
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return AngleResidual<States>(a, b, angleStateIdx);
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};
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}
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/**
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* Adds a and b while normalizing the resulting value in the selected row as an
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* angle.
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*
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* @tparam States The number of states.
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* @param a A vector to add with.
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* @param b A vector to add with.
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* @param angleStateIdx The row containing angles to be normalized.
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*/
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template <int States>
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Vectord<States> AngleAdd(const Vectord<States>& a, const Vectord<States>& b,
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int angleStateIdx) {
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Vectord<States> ret = a + b;
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ret[angleStateIdx] =
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InputModulus(ret[angleStateIdx], -wpi::numbers::pi, wpi::numbers::pi);
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return ret;
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}
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/**
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* Returns a function that adds two vectors while normalizing the resulting
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* value in the selected row as an angle.
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*
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* @tparam States The number of states.
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* @param angleStateIdx The row containing angles to be normalized.
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*/
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template <int States>
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std::function<Vectord<States>(const Vectord<States>&, const Vectord<States>&)>
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AngleAdd(int angleStateIdx) {
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return [=](auto a, auto b) { return AngleAdd<States>(a, b, angleStateIdx); };
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}
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/**
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* Computes the mean of sigmas with the weights Wm while computing a special
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* angle mean for a select row.
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*
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* @tparam CovDim Dimension of covariance of sigma points after passing through
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* the transform.
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* @tparam States The number of states.
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* @param sigmas Sigma points.
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* @param Wm Weights for the mean.
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* @param angleStatesIdx The row containing the angles.
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*/
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template <int CovDim, int States>
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Vectord<CovDim> AngleMean(const Matrixd<CovDim, 2 * States + 1>& sigmas,
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const Vectord<2 * States + 1>& Wm,
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int angleStatesIdx) {
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double sumSin = sigmas.row(angleStatesIdx)
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.unaryExpr([](auto it) { return std::sin(it); })
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.sum();
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double sumCos = sigmas.row(angleStatesIdx)
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.unaryExpr([](auto it) { return std::cos(it); })
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.sum();
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Vectord<CovDim> ret = sigmas * Wm;
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ret[angleStatesIdx] = std::atan2(sumSin, sumCos);
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return ret;
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}
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/**
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* Returns a function that computes the mean of sigmas with the weights Wm while
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* computing a special angle mean for a select row.
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*
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* @tparam CovDim Dimension of covariance of sigma points after passing through
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* the transform.
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* @tparam States The number of states.
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* @param angleStateIdx The row containing the angles.
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*/
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template <int CovDim, int States>
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std::function<Vectord<CovDim>(const Matrixd<CovDim, 2 * States + 1>&,
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const Vectord<2 * States + 1>&)>
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AngleMean(int angleStateIdx) {
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return [=](auto sigmas, auto Wm) {
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return AngleMean<CovDim, States>(sigmas, Wm, angleStateIdx);
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};
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}
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} // namespace frc
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