Update wpimath for 2027

Author: virtuald

subprojects/robotpy-wpimath/pyproject.toml

@@ -65,6 +65,10 @@ scan_headers_ignore = [
     "frc/estimator/AngleStatistics.h",
     "frc/estimator/KalmanFilterLatencyCompensator.h",
     "frc/estimator/MerweScaledSigmaPoints.h",
+    "frc/estimator/MerweUKF.h",
+    "frc/estimator/S3SigmaPoints.h",
+    "frc/estimator/S3UKF.h",
+    "frc/estimator/SigmaPoints.h",
     "frc/estimator/SteadyStateKalmanFilter.h",
     "frc/estimator/UnscentedKalmanFilter.h",
     "frc/estimator/UnscentedTransform.h",
@@ -1578,7 +1582,6 @@ LinearPlantInversionFeedforward = "frc/controller/LinearPlantInversionFeedforwar
 LinearQuadraticRegulator = "frc/controller/LinearQuadraticRegulator.h"
 PIDController = "frc/controller/PIDController.h"
 ProfiledPIDController = "frc/controller/ProfiledPIDController.h"
-RamseteController = "frc/controller/RamseteController.h"
 SimpleMotorFeedforward = "frc/controller/SimpleMotorFeedforward.h"
 
 # frc/estimator
@@ -1621,7 +1624,6 @@ Trajectory = "frc/trajectory/Trajectory.h"
 TrajectoryConfig = "frc/trajectory/TrajectoryConfig.h"
 TrajectoryGenerator = "frc/trajectory/TrajectoryGenerator.h"
 TrajectoryParameterizer = "frc/trajectory/TrajectoryParameterizer.h"
-TrajectoryUtil = "frc/trajectory/TrajectoryUtil.h"
 TrapezoidProfile = "frc/trajectory/TrapezoidProfile.h"
 
 # frc/trajectory/constraint

subprojects/robotpy-wpimath/semiwrap/MathUtil.yml

@@ -27,6 +27,12 @@ functions:
         default: '1.0'
     template_impls:
     - [double]
+  CopySignPow:
+    param_override:
+      maxMagnitude:
+        default: '1.0'
+    template_impls:
+    - [double]
   IsNear:
     overloads:
       T, T, T:

subprojects/robotpy-wpimath/semiwrap/controls/RamseteController.yml

@@ -37,12 +37,18 @@ classes:
       operator*:
       operator/:
       RotateBy:
+      RotateAround:
       TransformBy:
       RelativeTo:
       Exp:
       Log:
       ToMatrix:
       ToPose2d:
+      Nearest:
+        overloads:
+          std::span<const Pose3d> [const]:
+          std::initializer_list<Pose3d> [const]:
+            ignore: true
 
 inline_code: |
   cls_Pose3d

subprojects/robotpy-wpimath/semiwrap/controls/TrajectoryUtil.yml

@@ -35,6 +35,11 @@ classes:
       operator/:
       operator==:
       operator!=:
+      Nearest:
+        overloads:
+          std::span<const Translation3d> [const]:
+          std::initializer_list<Translation3d> [const]:
+            ignore: true
 
 inline_code: |
   cls_Translation3d

subprojects/robotpy-wpimath/semiwrap/geometry/Pose3d.yml

@@ -14,14 +14,6 @@ classes:
         overloads:
           units::meters_per_second_t, units::meters_per_second_t, units::radians_per_second_t, units::second_t:
           const ChassisSpeeds&, units::second_t:
-      FromFieldRelativeSpeeds:
-        overloads:
-          units::meters_per_second_t, units::meters_per_second_t, units::radians_per_second_t, const Rotation2d&:
-          const ChassisSpeeds&, const Rotation2d&:
-      FromRobotRelativeSpeeds:
-        overloads:
-          units::meters_per_second_t, units::meters_per_second_t, units::radians_per_second_t, const Rotation2d&:
-          const ChassisSpeeds&, const Rotation2d&:
       operator+:
       operator-:
         overloads:

subprojects/robotpy-wpimath/semiwrap/geometry/Translation3d.yml

@@ -4,26 +4,6 @@
 from wpimath.kinematics import ChassisSpeeds
 
 
-def test_fromFieldRelativeSpeeds() -> None:
-    chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(
-        vx=1.0, vy=0.0, omega=0.5, robotAngle=Rotation2d.fromDegrees(-90)
-    )
-
-    assert math.isclose(0.0, chassisSpeeds.vx, abs_tol=1e-9)
-    assert math.isclose(1.0, chassisSpeeds.vy)
-    assert math.isclose(0.5, chassisSpeeds.omega)
-
-
-def test_fromRobotRelativeSpeeds() -> None:
-    chassisSpeeds = ChassisSpeeds.fromRobotRelativeSpeeds(
-        vx=1.0, vy=0.0, omega=0.5, robotAngle=Rotation2d.fromDegrees(45)
-    )
-
-    assert math.isclose(1.0 / math.sqrt(2), chassisSpeeds.vx)
-    assert math.isclose(1.0 / math.sqrt(2), chassisSpeeds.vy)
-    assert math.isclose(0.5, chassisSpeeds.omega)
-
-
 def test_plus() -> None:
     left = ChassisSpeeds(vx=1.0, vy=0.5, omega=0.75)
     right = ChassisSpeeds(vx=2.0, vy=1.5, omega=0.25)

subprojects/robotpy-wpimath/semiwrap/kinematics/ChassisSpeeds.yml

@@ -25,7 +25,6 @@
     PIDController,
     ProfiledPIDController,
     ProfiledPIDControllerRadians,
-    RamseteController,
     SimpleMotorFeedforwardMeters,
     SimpleMotorFeedforwardRadians,
 )
@@ -56,7 +55,6 @@
     "PIDController",
     "ProfiledPIDController",
     "ProfiledPIDControllerRadians",
-    "RamseteController",
     "SimpleMotorFeedforwardMeters",
     "SimpleMotorFeedforwardRadians",
 ]

subprojects/robotpy-wpimath/tests/kinematics/test_chassis_speeds.py

@@ -5,7 +5,6 @@
     TrajectoryConfig,
     TrajectoryGenerator,
     TrajectoryParameterizer,
-    TrajectoryUtil,
     TrapezoidProfile,
     TrapezoidProfileRadians,
 )
@@ -16,7 +15,6 @@
     "TrajectoryConfig",
     "TrajectoryGenerator",
     "TrajectoryParameterizer",
-    "TrajectoryUtil",
     "TrapezoidProfile",
     "TrapezoidProfileRadians",
 ]