Update robotpy-wpimath for beta2

virtuald · virtuald · commit f2f22d1f2b82 · 2024-11-20T23:51:20.000-05:00
diff --git a/subprojects/robotpy-wpimath/gen/MathUtil.yml b/subprojects/robotpy-wpimath/gen/MathUtil.yml
@@ -29,11 +29,11 @@ functions:
     - [double]
   IsNear:
     overloads:
-      T, T, T [constexpr]:
+      T, T, T:
         ignore: true
         template_impls:
         - [double]
-      T, T, T, T, T [constexpr]:
+      T, T, T, T, T:
         ignore: true
         template_impls:
         - [double]
diff --git a/subprojects/robotpy-wpimath/gen/controls/ArmFeedforward.yml b/subprojects/robotpy-wpimath/gen/controls/ArmFeedforward.yml
@@ -13,12 +13,16 @@ classes:
     methods:
       ArmFeedforward:
         overloads:
-          '[constexpr]':
-          units::volt_t, units::volt_t, units::unit_t<kv_unit>, units::unit_t<ka_unit> [constexpr]:
+          '':
+          units::volt_t, units::volt_t, units::unit_t<kv_unit>, units::unit_t<ka_unit>:
       Calculate:
         overloads:
           units::unit_t<Angle>, units::unit_t<Velocity>, units::unit_t<Acceleration> [const]:
+            ignore: true
           units::unit_t<Angle>, units::unit_t<Velocity>, units::unit_t<Velocity>, units::second_t [const]:
+            ignore: true
+          units::unit_t<Angle>, units::unit_t<Velocity> [const]:
+          units::unit_t<Angle>, units::unit_t<Velocity>, units::unit_t<Velocity> [const]:
       MaxAchievableVelocity:
       MinAchievableVelocity:
       MaxAchievableAcceleration:
diff --git a/subprojects/robotpy-wpimath/gen/controls/DifferentialDrivePoseEstimator3d.yml b/subprojects/robotpy-wpimath/gen/controls/DifferentialDrivePoseEstimator3d.yml
@@ -0,0 +1,17 @@
+---
+
+classes:
+  DifferentialDrivePoseEstimator3d:
+    subpackage: estimator
+    force_no_trampoline: true
+    methods:
+      DifferentialDrivePoseEstimator3d:
+        overloads:
+          DifferentialDriveKinematics&, const Rotation3d&, units::meter_t, units::meter_t, const Pose3d&:
+          ? DifferentialDriveKinematics&, const Rotation3d&, units::meter_t, units::meter_t,
+            const Pose3d&, const wpi::array<double, 4>&, const wpi::array<double,
+            4>&
+          :
+      ResetPosition:
+      Update:
+      UpdateWithTime:
diff --git a/subprojects/robotpy-wpimath/gen/controls/ElevatorFeedforward.yml b/subprojects/robotpy-wpimath/gen/controls/ElevatorFeedforward.yml
@@ -10,11 +10,17 @@ classes:
       ElevatorFeedforward:
         overloads:
           "":
-          units::volt_t, units::volt_t, units::unit_t<kv_unit>, units::unit_t<ka_unit> [constexpr]:
+          units::volt_t, units::volt_t, units::unit_t<kv_unit>, units::unit_t<ka_unit>:
       Calculate:
         overloads:
-          units::unit_t<Velocity>, units::unit_t<Acceleration> [constexpr]:
+          units::unit_t<Velocity>, units::unit_t<Acceleration>:
+            ignore: true
+          units::unit_t<Velocity>, units::unit_t<Acceleration> [const]:
+            ignore: true
           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:
diff --git a/subprojects/robotpy-wpimath/gen/controls/HolonomicDriveController.yml b/subprojects/robotpy-wpimath/gen/controls/HolonomicDriveController.yml
@@ -13,5 +13,11 @@ classes:
           const Pose2d&, const Trajectory::State&, const Rotation2d&:
       SetEnabled:
       getThetaController:
+        ignore: true
       getXController:
+        ignore: true
       getYController:
+        ignore: true
+      GetXController:
+      GetYController:
+      GetThetaController:
diff --git a/subprojects/robotpy-wpimath/gen/controls/MecanumDrivePoseEstimator3d.yml b/subprojects/robotpy-wpimath/gen/controls/MecanumDrivePoseEstimator3d.yml
@@ -0,0 +1,14 @@
+---
+
+classes:
+  MecanumDrivePoseEstimator3d:
+    subpackage: estimator
+    force_no_trampoline: true
+    methods:
+      MecanumDrivePoseEstimator3d:
+        overloads:
+          MecanumDriveKinematics&, const Rotation3d&, const MecanumDriveWheelPositions&, const Pose3d&:
+          ? MecanumDriveKinematics&, const Rotation3d&, const MecanumDriveWheelPositions&,
+            const Pose3d&, const wpi::array<double, 4>&, const wpi::array<double,
+            4>&
+          :
diff --git a/subprojects/robotpy-wpimath/gen/controls/PoseEstimator3d.yml b/subprojects/robotpy-wpimath/gen/controls/PoseEstimator3d.yml
@@ -0,0 +1,68 @@
+---
+
+extra_includes:
+- frc/kinematics/DifferentialDriveWheelPositions.h
+- frc/kinematics/DifferentialDriveWheelSpeeds.h
+- frc/kinematics/MecanumDriveWheelPositions.h
+- frc/kinematics/MecanumDriveWheelSpeeds.h
+- frc/kinematics/SwerveDriveKinematics.h
+
+classes:
+  PoseEstimator3d:
+    template_params:
+    - WheelSpeeds
+    - WheelPositions
+    methods:
+      PoseEstimator3d:
+      SetVisionMeasurementStdDevs:
+      ResetPosition:
+      ResetPose:
+      ResetTranslation:
+      ResetRotation:
+      GetEstimatedPosition:
+      SampleAt:
+      AddVisionMeasurement:
+        overloads:
+          const Pose3d&, units::second_t:
+          const Pose3d&, units::second_t, const wpi::array<double, 4>&:
+      Update:
+      UpdateWithTime:
+
+
+templates:
+  DifferentialDrivePoseEstimator3dBase:
+    qualname: frc::PoseEstimator3d
+    subpackage: estimator
+    params:
+    - frc::DifferentialDriveWheelSpeeds
+    - frc::DifferentialDriveWheelPositions
+  MecanumDrivePoseEstimator3dBase:
+    qualname: frc::PoseEstimator3d
+    subpackage: estimator
+    params:
+    - frc::MecanumDriveWheelSpeeds
+    - frc::MecanumDriveWheelPositions
+  SwerveDrive2PoseEstimator3dBase:
+    qualname: frc::PoseEstimator3d
+    subpackage: estimator
+    params:
+    - wpi::array<frc::SwerveModuleState,2>
+    - wpi::array<frc::SwerveModulePosition,2>
+  SwerveDrive3PoseEstimator3dBase:
+    qualname: frc::PoseEstimator3d
+    subpackage: estimator
+    params:
+    - wpi::array<frc::SwerveModuleState,3>
+    - wpi::array<frc::SwerveModulePosition,3>
+  SwerveDrive4PoseEstimator3dBase:
+    qualname: frc::PoseEstimator3d
+    subpackage: estimator
+    params:
+    - wpi::array<frc::SwerveModuleState,4>
+    - wpi::array<frc::SwerveModulePosition,4>
+  SwerveDrive6PoseEstimator3dBase:
+    qualname: frc::PoseEstimator3d
+    subpackage: estimator
+    params:
+    - wpi::array<frc::SwerveModuleState,6>
+    - wpi::array<frc::SwerveModulePosition,6>
diff --git a/subprojects/robotpy-wpimath/gen/controls/SimpleMotorFeedforward.yml b/subprojects/robotpy-wpimath/gen/controls/SimpleMotorFeedforward.yml
@@ -21,8 +21,8 @@ classes:
     methods:
       SimpleMotorFeedforward:
         overloads:
-          '[constexpr]':
-          units::volt_t, units::unit_t<kv_unit>, units::unit_t<ka_unit> [constexpr]:
+          '':
+          units::volt_t, units::unit_t<kv_unit>, units::unit_t<ka_unit>:
       Calculate:
         overloads:
           units::unit_t<Velocity>, units::unit_t<Acceleration> [const]:
diff --git a/subprojects/robotpy-wpimath/gen/controls/SwerveDrivePoseEstimator3d.yml b/subprojects/robotpy-wpimath/gen/controls/SwerveDrivePoseEstimator3d.yml
@@ -0,0 +1,41 @@
+---
+
+extra_includes:
+- "frc/kinematics/SwerveModuleState.h"
+
+classes:
+  SwerveDrivePoseEstimator3d:
+    force_no_trampoline: true
+    template_params:
+    - size_t NumModules
+    methods:
+      SwerveDrivePoseEstimator3d:
+        overloads:
+          SwerveDriveKinematics<NumModules>&, const Rotation3d&, const wpi::array<SwerveModulePosition, NumModules>&, const Pose3d&:
+          ? SwerveDriveKinematics<NumModules>&, const Rotation3d&, const wpi::array<SwerveModulePosition,
+            NumModules>&, const Pose3d&, const wpi::array<double, 4>&, const wpi::array<double,
+            4>&
+          :
+
+
+templates:
+  SwerveDrive2PoseEstimator3d:
+    qualname: frc::SwerveDrivePoseEstimator3d
+    subpackage: estimator
+    params:
+    - 2
+  SwerveDrive3PoseEstimator3d:
+    qualname: frc::SwerveDrivePoseEstimator3d
+    subpackage: estimator
+    params:
+    - 3
+  SwerveDrive4PoseEstimator3d:
+    qualname: frc::SwerveDrivePoseEstimator3d
+    subpackage: estimator
+    params:
+    - 4
+  SwerveDrive6PoseEstimator3d:
+    qualname: frc::SwerveDrivePoseEstimator3d
+    subpackage: estimator
+    params:
+    - 6
diff --git a/subprojects/robotpy-wpimath/gen/controls/TravelingSalesman.yml b/subprojects/robotpy-wpimath/gen/controls/TravelingSalesman.yml
@@ -6,7 +6,7 @@ classes:
     methods:
       TravelingSalesman:
         overloads:
-          '[constexpr]':
+          '':
           std::function<double (Pose2d, Pose2d)>:
       Solve:
         overloads:
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Ellipse2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Ellipse2d.yml
@@ -12,8 +12,8 @@ classes:
     methods:
       Ellipse2d:
         overloads:
-          const Pose2d&, units::meter_t, units::meter_t [constexpr]:
-          const Translation2d&, double [constexpr]:
+          const Pose2d&, units::meter_t, units::meter_t:
+          const Translation2d&, double:
       Center:
       Rotation:
       XSemiAxis:
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Pose2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Pose2d.yml
@@ -18,9 +18,9 @@ classes:
     methods:
       Pose2d:
         overloads:
-          '[constexpr]':
-          Translation2d, Rotation2d [constexpr]:
-          units::meter_t, units::meter_t, Rotation2d [constexpr]:
+          '':
+          Translation2d, Rotation2d:
+          units::meter_t, units::meter_t, Rotation2d:
       Translation:
       Rotation:
       RotateBy:
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Pose3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Pose3d.yml
@@ -8,13 +8,18 @@ functions:
     ignore: true
   from_json:
     ignore: true
+  RotationVectorToMatrix:
+    overloads:
+      const ct_vector3d&:
+        ignore: true
+      const Eigen::Vector3d&:
 classes:
   Pose3d:
     shared_ptr: false
     methods:
       Pose3d:
         overloads:
-          '[constexpr]':
+          '':
           Translation3d, Rotation3d:
           units::meter_t, units::meter_t, units::meter_t, Rotation3d:
           const Pose2d&:
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Quaternion.yml b/subprojects/robotpy-wpimath/gen/geometry/Quaternion.yml
@@ -14,13 +14,13 @@ classes:
     methods:
       Quaternion:
         overloads:
-          "":
+          '':
           double, double, double, double:
       operator+:
       operator-:
       operator*:
         overloads:
-          const double [const]:
+          double [const]:
           const Quaternion& [const]:
       operator/:
       operator==:
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Rectangle2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Rectangle2d.yml
@@ -12,8 +12,8 @@ classes:
     methods:
       Rectangle2d:
         overloads:
-          const Pose2d&, units::meter_t, units::meter_t [constexpr]:
-          const Translation2d&, const Translation2d& [constexpr]:
+          const Pose2d&, units::meter_t, units::meter_t:
+          const Translation2d&, const Translation2d&:
       Center:
       Rotation:
       XWidth:
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Rotation2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Rotation2d.yml
@@ -14,8 +14,8 @@ classes:
     methods:
       Rotation2d:
         overloads:
-          '[constexpr]':
-          auto [constexpr]:
+          '':
+          auto:
             doc: |
               Constructs a Rotation2d with the given radian value.
               :param value: The value of the angle in radians.
@@ -24,7 +24,7 @@ classes:
                 x_type: 'units::radian_t'
             template_impls:
               - ['units::radian_t']
-          double, double [constexpr]:
+          double, double:
       RotateBy:
       Radians:
       Degrees:
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Rotation3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Rotation3d.yml
@@ -14,13 +14,14 @@ classes:
     methods:
       Rotation3d:
         overloads:
-          "":
+          '':
           const Quaternion&:
           units::radian_t, units::radian_t, units::radian_t:
           const Eigen::Vector3d&, units::radian_t:
           const Eigen::Vector3d&:
           const Eigen::Matrix3d&:
           const Eigen::Vector3d&, const Eigen::Vector3d&:
+          const Rotation2d&:
       operator+:
       operator-:
         overloads:
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Transform2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Transform2d.yml
@@ -15,10 +15,10 @@ classes:
     methods:
       Transform2d:
         overloads:
-          Pose2d, Pose2d:
-          Translation2d, Rotation2d [constexpr]:
-          units::meter_t, units::meter_t, Rotation2d [constexpr]:
-          '[constexpr]':
+          const Pose2d&, const Pose2d&:
+          Translation2d, Rotation2d:
+          units::meter_t, units::meter_t, Rotation2d:
+          '':
       Translation:
       Rotation:
       X:
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Transform3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Transform3d.yml
@@ -14,10 +14,11 @@ classes:
     methods:
       Transform3d:
         overloads:
-          Pose3d, Pose3d:
+          const Pose3d&, const Pose3d&:
           Translation3d, Rotation3d:
           units::meter_t, units::meter_t, units::meter_t, Rotation3d:
-          '[constexpr]':
+          '':
+          const frc::Transform2d&:
       Translation:
       X:
       Y:
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Translation2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Translation2d.yml
@@ -15,9 +15,9 @@ classes:
     methods:
       Translation2d:
         overloads:
-          '[constexpr]':
-          units::meter_t, units::meter_t [constexpr]:
-          units::meter_t, const Rotation2d& [constexpr]:
+          '':
+          units::meter_t, units::meter_t:
+          units::meter_t, const Rotation2d&:
           const Eigen::Vector2d&:
       Distance:
       X:
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Translation3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Translation3d.yml
@@ -15,10 +15,11 @@ classes:
     methods:
       Translation3d:
         overloads:
-          '[constexpr]':
-          units::meter_t, units::meter_t, units::meter_t [constexpr]:
-          units::meter_t, const Rotation3d&:
+          '':
+          units::meter_t, units::meter_t, units::meter_t:
+          units::meter_t, const Rotation3d& :
           const Eigen::Vector3d&:
+          const Translation2d&:
       Distance:
       X:
       Y:
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/DifferentialDriveOdometry3d.yml b/subprojects/robotpy-wpimath/gen/kinematics/DifferentialDriveOdometry3d.yml
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveKinematics.yml b/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveKinematics.yml
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveOdometry3d.yml b/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveOdometry3d.yml
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/Odometry3d.yml b/subprojects/robotpy-wpimath/gen/kinematics/Odometry3d.yml
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/SwerveDriveOdometry3d.yml b/subprojects/robotpy-wpimath/gen/kinematics/SwerveDriveOdometry3d.yml
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/SwerveModuleState.yml b/subprojects/robotpy-wpimath/gen/kinematics/SwerveModuleState.yml
diff --git a/subprojects/robotpy-wpimath/pyproject.toml b/subprojects/robotpy-wpimath/pyproject.toml
