StateSpaceUtil.h File Reference

#include <array>
#include <cmath>
#include <limits>
#include <random>
#include <type_traits>
#include <wpi/SymbolExports.h>
#include <wpi/deprecated.h>
#include "Eigen/Eigenvalues"
#include "Eigen/QR"
#include "frc/EigenCore.h"
#include "frc/geometry/Pose2d.h"

Go to the source code of this file.

Namespaces
namespace	frc
namespace	frc::detail

Functions
template<int Rows, int Cols, typename Matrix , typename T , typename... Ts>
void	frc::detail::MatrixImpl (Matrix &result, T elem, Ts... elems)
template<typename Matrix , typename T , typename... Ts>
void	frc::detail::CostMatrixImpl (Matrix &result, T elem, Ts... elems)
template<typename Matrix , typename T , typename... Ts>
void	frc::detail::CovMatrixImpl (Matrix &result, T elem, Ts... elems)
template<typename Matrix , typename T , typename... Ts>
void	frc::detail::WhiteNoiseVectorImpl (Matrix &result, T elem, Ts... elems)
template<int States, int Inputs>
bool	frc::detail::IsStabilizableImpl (const Matrixd< States, States > &A, const Matrixd< States, Inputs > &B)
template<typename... Ts, typename = std::enable_if_t< std::conjunction_v<std::is_same<double, Ts>...>>>
Matrixd< sizeof...(Ts), sizeof...(Ts)>	frc::MakeCostMatrix (Ts... tolerances)
	Creates a cost matrix from the given vector for use with LQR. More...
template<typename... Ts, typename = std::enable_if_t< std::conjunction_v<std::is_same<double, Ts>...>>>
Matrixd< sizeof...(Ts), sizeof...(Ts)>	frc::MakeCovMatrix (Ts... stdDevs)
	Creates a covariance matrix from the given vector for use with Kalman filters. More...
template<size_t N>
Matrixd< N, N >	frc::MakeCostMatrix (const std::array< double, N > &costs)
	Creates a cost matrix from the given vector for use with LQR. More...
template<size_t N>
Matrixd< N, N >	frc::MakeCovMatrix (const std::array< double, N > &stdDevs)
	Creates a covariance matrix from the given vector for use with Kalman filters. More...
template<typename... Ts, typename = std::enable_if_t< std::conjunction_v<std::is_same<double, Ts>...>>>
Matrixd< sizeof...(Ts), 1 >	frc::MakeWhiteNoiseVector (Ts... stdDevs)
template<int N>
Vectord< N >	frc::MakeWhiteNoiseVector (const std::array< double, N > &stdDevs)
	Creates a vector of normally distributed white noise with the given noise intensities for each element. More...
WPILIB_DLLEXPORT Vectord< 3 >	frc::PoseTo3dVector (const Pose2d &pose)
	Converts a Pose2d into a vector of [x, y, theta]. More...
WPILIB_DLLEXPORT Vectord< 4 >	frc::PoseTo4dVector (const Pose2d &pose)
	Converts a Pose2d into a vector of [x, y, std::cos(theta), std::sin(theta)]. More...
template<int States, int Inputs>
bool	frc::IsStabilizable (const Matrixd< States, States > &A, const Matrixd< States, Inputs > &B)
	Returns true if (A, B) is a stabilizable pair. More...
template<int States, int Outputs>
bool	frc::IsDetectable (const Matrixd< States, States > &A, const Matrixd< Outputs, States > &C)
	Returns true if (A, C) is a detectable pair. More...
template<>
WPILIB_DLLEXPORT bool	frc::IsStabilizable< 1, 1 > (const Matrixd< 1, 1 > &A, const Matrixd< 1, 1 > &B)
template<>
WPILIB_DLLEXPORT bool	frc::IsStabilizable< 2, 1 > (const Matrixd< 2, 2 > &A, const Matrixd< 2, 1 > &B)
WPILIB_DLLEXPORT Vectord< 3 >	frc::PoseToVector (const Pose2d &pose)
	Converts a Pose2d into a vector of [x, y, theta]. More...
template<int Inputs>
Vectord< Inputs >	frc::ClampInputMaxMagnitude (const Vectord< Inputs > &u, const Vectord< Inputs > &umin, const Vectord< Inputs > &umax)
	Clamps input vector between system's minimum and maximum allowable input. More...
template<int Inputs>
Vectord< Inputs >	frc::DesaturateInputVector (const Vectord< Inputs > &u, double maxMagnitude)
	Renormalize all inputs if any exceeds the maximum magnitude. More...