Update wpimath for 2025

virtuald · virtuald · commit 3055a163c14f · 2024-08-20T23:42:18.000-04:00
diff --git a/rdev_requirements.txt b/rdev_requirements.txt
@@ -2,6 +2,7 @@ black
 click
 packaging
 pydantic<2
+pytest
 requests
 setuptools
 setuptools_scm >= 6.2, < 8
diff --git a/subprojects/robotpy-wpimath/gen/MathUtil.yml b/subprojects/robotpy-wpimath/gen/MathUtil.yml
@@ -5,6 +5,12 @@ functions:
     template_impls:
     - [double]
   AngleModulus:
+  FloorDiv:
+    template_impls:
+    - [int64_t, int64_t]
+  FloorMod:
+    template_impls:
+    - [int64_t, int64_t]
   ApplyDeadband:
     param_override:
       maxMagnitude:
diff --git a/subprojects/robotpy-wpimath/gen/controls/ArmFeedforward.yml b/subprojects/robotpy-wpimath/gen/controls/ArmFeedforward.yml
@@ -10,11 +10,6 @@ classes:
     - frc::ArmFeedforward::Acceleration
     - frc::ArmFeedforward::kv_unit
     - frc::ArmFeedforward::ka_unit
-    attributes:
-      kS:
-      kG:
-      kV:
-      kA:
     methods:
       ArmFeedforward:
         overloads:
@@ -25,6 +20,10 @@ classes:
       MinAchievableVelocity:
       MaxAchievableAcceleration:
       MinAchievableAcceleration:
+      GetKs:
+      GetKg:
+      GetKv:
+      GetKa:
 
 extra_includes:
 - wpystruct.h
diff --git a/subprojects/robotpy-wpimath/gen/controls/DifferentialDriveFeedforward.yml b/subprojects/robotpy-wpimath/gen/controls/DifferentialDriveFeedforward.yml
@@ -8,6 +8,11 @@ classes:
     - units::radians_per_second
     - units::radians_per_second_squared
     - units::compound_unit
+    attributes:
+      m_kVLinear:
+      m_kALinear:
+      m_kVAngular:
+      m_kAAngular:
     methods:
       DifferentialDriveFeedforward:
         overloads:
diff --git a/subprojects/robotpy-wpimath/gen/controls/ElevatorFeedforward.yml b/subprojects/robotpy-wpimath/gen/controls/ElevatorFeedforward.yml
@@ -6,11 +6,6 @@ classes:
     - units::meters_per_second
     - meters_per_second_squared
     subpackage: controller
-    attributes:
-      kS:
-      kG:
-      kV:
-      kA:
     methods:
       ElevatorFeedforward:
         overloads:
@@ -21,6 +16,10 @@ classes:
       MinAchievableVelocity:
       MaxAchievableAcceleration:
       MinAchievableAcceleration:
+      GetKs:
+      GetKg:
+      GetKv:
+      GetKa:
 
 extra_includes:
 - wpystruct.h
diff --git a/subprojects/robotpy-wpimath/gen/controls/LinearSystem.yml b/subprojects/robotpy-wpimath/gen/controls/LinearSystem.yml
@@ -27,6 +27,9 @@ classes:
           int, int [const]:
       CalculateX:
       CalculateY:
+      Slice:
+        # TODO?
+        ignore: true
 
 templates:
   LinearSystem_1_1_1:
diff --git a/subprojects/robotpy-wpimath/gen/controls/PIDController.yml b/subprojects/robotpy-wpimath/gen/controls/PIDController.yml
@@ -22,6 +22,7 @@ classes:
       GetPeriod:
       GetPositionTolerance:
       GetVelocityTolerance:
+      GetAccumulatedError:
       SetSetpoint:
       GetSetpoint:
       AtSetpoint:
diff --git a/subprojects/robotpy-wpimath/gen/controls/PoseEstimator.yml b/subprojects/robotpy-wpimath/gen/controls/PoseEstimator.yml
@@ -6,7 +6,6 @@ extra_includes:
 - frc/kinematics/MecanumDriveWheelPositions.h
 - frc/kinematics/MecanumDriveWheelSpeeds.h
 - frc/kinematics/SwerveDriveKinematics.h
-- frc/kinematics/SwerveDriveWheelPositions.h
 
 
 classes:
@@ -18,7 +17,11 @@ classes:
       PoseEstimator:
       SetVisionMeasurementStdDevs:
       ResetPosition:
+      ResetPose:
+      ResetTranslation:
+      ResetRotation:
       GetEstimatedPosition:
+      SampleAt:
       AddVisionMeasurement:
         overloads:
           const Pose2d&, units::second_t:
@@ -43,23 +46,23 @@ templates:
     qualname: frc::PoseEstimator
     subpackage: estimator
     params:
-    - frc::SwerveDriveWheelSpeeds<2>
-    - frc::SwerveDriveWheelPositions<2>
+    - wpi::array<frc::SwerveModuleState,2>
+    - wpi::array<frc::SwerveModulePosition,2>
   SwerveDrive3PoseEstimatorBase:
     qualname: frc::PoseEstimator
     subpackage: estimator
     params:
-    - frc::SwerveDriveWheelSpeeds<3>
-    - frc::SwerveDriveWheelPositions<3>
+    - wpi::array<frc::SwerveModuleState,3>
+    - wpi::array<frc::SwerveModulePosition,3>
   SwerveDrive4PoseEstimatorBase:
     qualname: frc::PoseEstimator
     subpackage: estimator
     params:
-    - frc::SwerveDriveWheelSpeeds<4>
-    - frc::SwerveDriveWheelPositions<4>
+    - wpi::array<frc::SwerveModuleState,4>
+    - wpi::array<frc::SwerveModulePosition,4>
   SwerveDrive6PoseEstimatorBase:
     qualname: frc::PoseEstimator
     subpackage: estimator
     params:
-    - frc::SwerveDriveWheelSpeeds<6>
-    - frc::SwerveDriveWheelPositions<6>
+    - wpi::array<frc::SwerveModuleState,6>
+    - wpi::array<frc::SwerveModulePosition,6>
diff --git a/subprojects/robotpy-wpimath/gen/controls/ProfiledPIDController.yml b/subprojects/robotpy-wpimath/gen/controls/ProfiledPIDController.yml
@@ -35,6 +35,7 @@ classes:
       GetPeriod:
       GetPositionTolerance:
       GetVelocityTolerance:
+      GetAccumulatedError:
       SetGoal:
         overloads:
           State:
diff --git a/subprojects/robotpy-wpimath/gen/controls/SimpleMotorFeedforward.yml b/subprojects/robotpy-wpimath/gen/controls/SimpleMotorFeedforward.yml
@@ -18,10 +18,6 @@ classes:
     - typename frc::SimpleMotorFeedforward<Distance>::ka_unit
     template_params:
     - Distance
-    attributes:
-      kS:
-      kV:
-      kA:
     methods:
       SimpleMotorFeedforward:
         overloads:
@@ -30,11 +26,17 @@ classes:
       Calculate:
         overloads:
           units::unit_t<Velocity>, units::unit_t<Acceleration> [const]:
-          units::unit_t<Velocity>, units::unit_t<Velocity>, units::second_t [const]:
+            ignore: true
+          units::unit_t<Velocity> [const]:
+          units::unit_t<Velocity>, units::unit_t<Velocity> [const]:
       MaxAchievableVelocity:
       MinAchievableVelocity:
       MaxAchievableAcceleration:
       MinAchievableAcceleration:
+      GetKs:
+      GetKv:
+      GetKa:
+      GetDt:
 
 templates:
   # Unfortunately this is broken because calculate requires an SI unit
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Ellipse2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Ellipse2d.yml
@@ -0,0 +1,48 @@
+---
+
+extra_includes:
+  - rpy/geometryToString.h
+  - wpystruct.h
+
+classes:
+  Ellipse2d:
+    force_type_casters:
+    - units::foot_t
+    - units::meter_t
+    methods:
+      Ellipse2d:
+        overloads:
+          const Pose2d&, units::meter_t, units::meter_t [constexpr]:
+          const Translation2d&, double [constexpr]:
+      Center:
+      Rotation:
+      XSemiAxis:
+        ignore: true
+      YSemiAxis:
+        ignore: true
+      FocalPoints:
+      TransformBy:
+      RotateBy:
+      Intersects:
+      Contains:
+      Distance:
+      FindNearestPoint:
+      operator==:
+
+inline_code: |
+  cls_Ellipse2d
+    .def_static("fromFeet", [](const Pose2d& center, units::foot_t xSemiAxis, units::foot_t ySemiAxis) {
+      return std::make_unique<Ellipse2d>(center, xSemiAxis, ySemiAxis);
+    }, py::arg("center"), py::arg("xSemiAxis"), py::arg("ySemiAxis"))
+    .def_property_readonly("xsemiaxis", &Ellipse2d::XSemiAxis)
+    .def_property_readonly("ysemiaxis", &Ellipse2d::YSemiAxis)
+    .def_property_readonly("xsemiaxis_feet", [](Ellipse2d &self) -> units::foot_t {
+      return self.XSemiAxis();
+    })
+    .def_property_readonly("ysemiaxis_feet", [](Ellipse2d &self) -> units::foot_t {
+      return self.YSemiAxis();
+    })
+    .def("__repr__", py::overload_cast<const Ellipse2d&>(&rpy::toString));
+
+
+  SetupWPyStruct<frc::Ellipse2d>(cls_Ellipse2d);
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Rectangle2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Rectangle2d.yml
@@ -0,0 +1,47 @@
+---
+
+extra_includes:
+  - rpy/geometryToString.h
+  - wpystruct.h
+
+classes:
+  Rectangle2d:
+    force_type_casters:
+    - units::foot_t
+    - units::meter_t
+    methods:
+      Rectangle2d:
+        overloads:
+          const Pose2d&, units::meter_t, units::meter_t [constexpr]:
+          const Translation2d&, const Translation2d& [constexpr]:
+      Center:
+      Rotation:
+      XWidth:
+        ignore: true
+      YWidth:
+        ignore: true
+      TransformBy:
+      RotateBy:
+      Intersects:
+      Contains:
+      Distance:
+      FindNearestPoint:
+      operator==:
+
+inline_code: |
+  cls_Rectangle2d
+    .def_static("fromFeet", [](const Pose2d& center, units::foot_t xWidth, units::foot_t yWidth) {
+      return std::make_unique<Rectangle2d>(center, xWidth, yWidth);
+    }, py::arg("center"), py::arg("xWidth"), py::arg("yWidth"))
+    .def_property_readonly("xwidth", &Rectangle2d::XWidth)
+    .def_property_readonly("ywidth", &Rectangle2d::YWidth)
+    .def_property_readonly("xwidth_feet", [](Rectangle2d &self) -> units::foot_t {
+      return self.XWidth();
+    })
+    .def_property_readonly("ywidth_feet", [](Rectangle2d &self) -> units::foot_t {
+      return self.YWidth();
+    })
+    .def("__repr__", py::overload_cast<const Rectangle2d&>(&rpy::toString));
+
+
+  SetupWPyStruct<frc::Rectangle2d>(cls_Rectangle2d);
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Translation2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Translation2d.yml
@@ -22,9 +22,11 @@ classes:
       Distance:
       X:
       Y:
+      ToVector:
       Norm:
       Angle:
       RotateBy:
+      RotateAround:
       Nearest:
         overloads:
           std::span<const Translation2d> [const]:
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Translation3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Translation3d.yml
@@ -23,6 +23,7 @@ classes:
       X:
       Y:
       Z:
+      ToVector:
       Norm:
       RotateBy:
       ToTranslation2d:
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/ChassisSpeeds.yml b/subprojects/robotpy-wpimath/gen/kinematics/ChassisSpeeds.yml
@@ -12,6 +12,7 @@ classes:
       vy:
       omega:
     methods:
+      ToTwist2d:
       Discretize:
         overloads:
           units::meters_per_second_t, units::meters_per_second_t, units::radians_per_second_t, units::second_t:
@@ -31,6 +32,7 @@ classes:
           '[const]':
       operator*:
       operator/:
+      operator==:
 
 inline_code: |
   cls_ChassisSpeeds
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/DifferentialDriveKinematics.yml b/subprojects/robotpy-wpimath/gen/kinematics/DifferentialDriveKinematics.yml
@@ -12,6 +12,7 @@ classes:
       ToChassisSpeeds:
       ToWheelSpeeds:
       ToTwist2d:
+      Interpolate:
 
 inline_code: |
   SetupWPyStruct<frc::DifferentialDriveKinematics>(cls_DifferentialDriveKinematics);
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/Kinematics.yml b/subprojects/robotpy-wpimath/gen/kinematics/Kinematics.yml
@@ -6,7 +6,6 @@ extra_includes:
 - frc/kinematics/MecanumDriveWheelPositions.h
 - frc/kinematics/MecanumDriveWheelSpeeds.h
 - frc/kinematics/SwerveDriveKinematics.h
-- frc/kinematics/SwerveDriveWheelPositions.h
 
 
 classes:
@@ -20,6 +19,7 @@ classes:
       ToChassisSpeeds:
       ToWheelSpeeds:
       ToTwist2d:
+      Interpolate:
 
 
 templates:
@@ -36,20 +36,20 @@ templates:
   SwerveDrive2KinematicsBase:
     qualname: frc::Kinematics
     params:
-    - frc::SwerveDriveWheelSpeeds<2>
-    - frc::SwerveDriveWheelPositions<2>
+    - wpi::array<frc::SwerveModuleState,2>
+    - wpi::array<frc::SwerveModulePosition,2>
   SwerveDrive3KinematicsBase:
     qualname: frc::Kinematics
     params:
-    - frc::SwerveDriveWheelSpeeds<3>
-    - frc::SwerveDriveWheelPositions<3>
+    - wpi::array<frc::SwerveModuleState,3>
+    - wpi::array<frc::SwerveModulePosition,3>
   SwerveDrive4KinematicsBase:
     qualname: frc::Kinematics
     params:
-    - frc::SwerveDriveWheelSpeeds<4>
-    - frc::SwerveDriveWheelPositions<4>
+    - wpi::array<frc::SwerveModuleState,4>
+    - wpi::array<frc::SwerveModulePosition,4>
   SwerveDrive6KinematicsBase:
     qualname: frc::Kinematics
     params:
-    - frc::SwerveDriveWheelSpeeds<6>
-    - frc::SwerveDriveWheelPositions<6>
+    - wpi::array<frc::SwerveModuleState,6>
+    - wpi::array<frc::SwerveModulePosition,6>
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveKinematics.yml b/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveKinematics.yml
@@ -40,6 +40,7 @@ classes:
       GetFrontRight:
       GetRearLeft:
       GetRearRight:
+      Interpolate:
 
 inline_code: |
   SetupWPyStruct<frc::MecanumDriveKinematics>(cls_MecanumDriveKinematics);
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/Odometry.yml b/subprojects/robotpy-wpimath/gen/kinematics/Odometry.yml
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/SwerveDriveKinematics.yml b/subprojects/robotpy-wpimath/gen/kinematics/SwerveDriveKinematics.yml
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/SwerveDriveWheelPositions.yml b/subprojects/robotpy-wpimath/gen/kinematics/SwerveDriveWheelPositions.yml
diff --git a/subprojects/robotpy-wpimath/pyproject.toml b/subprojects/robotpy-wpimath/pyproject.toml
diff --git a/subprojects/robotpy-wpimath/wpimath/__init__.py b/subprojects/robotpy-wpimath/wpimath/__init__.py
diff --git a/subprojects/robotpy-wpimath/wpimath/geometry/__init__.py b/subprojects/robotpy-wpimath/wpimath/geometry/__init__.py
diff --git a/subprojects/robotpy-wpimath/wpimath/geometry/include/rpy/geometryToString.h b/subprojects/robotpy-wpimath/wpimath/geometry/include/rpy/geometryToString.h
diff --git a/subprojects/robotpy-wpimath/wpimath/kinematics/__init__.py b/subprojects/robotpy-wpimath/wpimath/kinematics/__init__.py
