Linear system factories. More...

#include <wpi/math/system/Models.hpp>

Public Types
template<typename Distance>
using	Velocity_t
template<typename Distance>
using	Acceleration_t

Static Public Member Functions
static constexpr LinearSystem< 1, 1, 1 >	FlywheelFromPhysicalConstants (DCMotor motor, wpi::units::kilogram_square_meter_t J, double gearing)
	Creates a flywheel state-space model from physical constants.
static constexpr LinearSystem< 1, 1, 1 >	FlywheelFromSysId (decltype(1_V/1_rad_per_s) kV, decltype(1_V/1_rad_per_s_sq) kA)
	Creates a flywheel state-space model from SysId constants kᵥ (V/(rad/s)) and kₐ (V/(rad/s²)) from the feedforward model u = kᵥv + kₐa.
static constexpr LinearSystem< 2, 1, 2 >	ElevatorFromPhysicalConstants (DCMotor motor, wpi::units::kilogram_t mass, wpi::units::meter_t radius, double gearing)
	Creates an elevator state-space model from physical constants.
static constexpr LinearSystem< 2, 1, 2 >	ElevatorFromSysId (decltype(1_V/1_mps) kV, decltype(1_V/1_mps_sq) kA)
	Creates an elevator state-space model from SysId constants kᵥ (V/(m/s)) and kₐ (V/(m/s²)) from the feedforward model u = kᵥv + kₐa.
static constexpr LinearSystem< 2, 1, 2 >	SingleJointedArmFromPhysicalConstants (DCMotor motor, wpi::units::kilogram_square_meter_t J, double gearing)
	Create a single-jointed arm state-space model from physical constants.
static constexpr LinearSystem< 2, 1, 2 >	SingleJointedArmFromSysId (decltype(1_V/1_rad_per_s) kV, decltype(1_V/1_rad_per_s_sq) kA)
	Creates a single-jointed arm state-space model from SysId constants kᵥ (V/(rad/s)) and kₐ (V/(rad/s²)) from the feedforward model u = kᵥv + kₐa.
static constexpr LinearSystem< 2, 2, 2 >	DifferentialDriveFromPhysicalConstants (const DCMotor &motor, wpi::units::kilogram_t mass, wpi::units::meter_t r, wpi::units::meter_t rb, wpi::units::kilogram_square_meter_t J, double gearing)
	Creates a differential drive state-space model from physical constants.
static constexpr LinearSystem< 2, 2, 2 >	DifferentialDriveFromSysId (decltype(1_V/1_mps) kVLinear, decltype(1_V/1_mps_sq) kALinear, decltype(1_V/1_mps) kVAngular, decltype(1_V/1_mps_sq) kAAngular)
	Creates a differential drive state-space model from SysId constants kᵥ and kₐ in both linear {(V/(m/s), (V/(m/s²))} and angular {(V/(rad/s), (V/(rad/s²))} cases.
static constexpr LinearSystem< 2, 2, 2 >	DifferentialDriveFromSysId (decltype(1_V/1_mps) kVLinear, decltype(1_V/1_mps_sq) kALinear, decltype(1_V/1_rad_per_s) kVAngular, decltype(1_V/1_rad_per_s_sq) kAAngular, wpi::units::meter_t trackwidth)
	Creates a differential drive state-space model from SysId constants kᵥ and kₐ in both linear {(V/(m/s), (V/(m/s²))} and angular {(V/(rad/s), (V/(rad/s²))} cases.

Detailed Description

Linear system factories.

Member Typedef Documentation

◆ Acceleration_t

template<typename Distance>

using wpi::math::Models::Acceleration_t

Initial value:

 wpi::units::unit_t<wpi::units::compound_unit<
      wpi::units::compound_unit<Distance,
                                wpi::units::inverse<wpi::units::seconds>>,
      wpi::units::inverse<wpi::units::seconds>>>

◆ Velocity_t

template<typename Distance>

using wpi::math::Models::Velocity_t

Initial value:

wpi::units::unit_t<wpi::units::compound_unit<

Distance, wpi::units::inverse<wpi::units::seconds>>>

Member Function Documentation

◆ DifferentialDriveFromPhysicalConstants()

constexpr LinearSystem< 2, 2, 2 > wpi::math::Models::DifferentialDriveFromPhysicalConstants	(	const DCMotor &	motor,
		wpi::units::kilogram_t	mass,
		wpi::units::meter_t	r,
		wpi::units::meter_t	rb,
		wpi::units::kilogram_square_meter_t	J,
		double	gearing )

inlinestaticconstexpr

Creates a differential drive state-space model from physical constants.

The states are [left velocity, right velocity], the inputs are [left voltage, right voltage], and the outputs are [left velocity, right velocity].

Parameters

motor	The motor (or gearbox) driving the drivetrain.
mass	The mass of the robot in kilograms.
r	The radius of the wheels in meters.
rb	The radius of the base (half of the trackwidth), in meters.
J	The moment of inertia of the robot.
gearing	Gear ratio from motor to wheel (greater than 1 is a reduction).

Throws:: std::domain_error if mass <= 0, r <= 0, rb <= 0, J <= 0, or gearing <= 0.

◆ DifferentialDriveFromSysId() [1/2]

constexpr LinearSystem< 2, 2, 2 > wpi::math::Models::DifferentialDriveFromSysId	(	decltype(1_V/1_mps)	kVLinear,
		decltype(1_V/1_mps_sq)	kALinear,
		decltype(1_V/1_mps)	kVAngular,
		decltype(1_V/1_mps_sq)	kAAngular )

inlinestaticconstexpr

Creates a differential drive state-space model from SysId constants kᵥ and kₐ in both linear {(V/(m/s), (V/(m/s²))} and angular {(V/(rad/s), (V/(rad/s²))} cases.

The states are [left velocity, right velocity], the inputs are [left voltage, right voltage], and the outputs are [left velocity, right velocity].

Parameters

kVLinear	The linear velocity gain in volts per (meters per second).
kALinear	The linear acceleration gain in volts per (meters per second squared).
kVAngular	The angular velocity gain in volts per (meters per second).
kAAngular	The angular acceleration gain in volts per (meters per second squared).

Throws:: domain_error if kVLinear <= 0, kALinear <= 0, kVAngular <= 0, or kAAngular <= 0.

See also: https://github.com/wpilibsuite/allwpilib/tree/main/sysid

◆ DifferentialDriveFromSysId() [2/2]

constexpr LinearSystem< 2, 2, 2 > wpi::math::Models::DifferentialDriveFromSysId	(	decltype(1_V/1_mps)	kVLinear,
		decltype(1_V/1_mps_sq)	kALinear,
		decltype(1_V/1_rad_per_s)	kVAngular,
		decltype(1_V/1_rad_per_s_sq)	kAAngular,
		wpi::units::meter_t	trackwidth )

inlinestaticconstexpr

Creates a differential drive state-space model from SysId constants kᵥ and kₐ in both linear {(V/(m/s), (V/(m/s²))} and angular {(V/(rad/s), (V/(rad/s²))} cases.

The states are [left velocity, right velocity], the inputs are [left voltage, right voltage], and the outputs are [left velocity, right velocity].

Parameters

kVLinear	The linear velocity gain in volts per (meters per second).
kALinear	The linear acceleration gain in volts per (meters per second squared).
kVAngular	The angular velocity gain in volts per (radians per second).
kAAngular	The angular acceleration gain in volts per (radians per second squared).
trackwidth	The distance between the differential drive's left and right wheels, in meters.

Throws:: domain_error if kVLinear <= 0, kALinear <= 0, kVAngular <= 0, kAAngular <= 0, or trackwidth <= 0.

See also: https://github.com/wpilibsuite/allwpilib/tree/main/sysid

◆ ElevatorFromPhysicalConstants()

constexpr LinearSystem< 2, 1, 2 > wpi::math::Models::ElevatorFromPhysicalConstants	(	DCMotor	motor,
		wpi::units::kilogram_t	mass,
		wpi::units::meter_t	radius,
		double	gearing )

inlinestaticconstexpr

Creates an elevator state-space model from physical constants.

The states are [position, velocity], the inputs are [voltage], and the outputs are [position, velocity].

Parameters

motor	The motor (or gearbox) attached to the carriage.
mass	The mass of the elevator carriage, in kilograms.
radius	The radius of the elevator's driving drum, in meters.
gearing	Gear ratio from motor to carriage (greater than 1 is a reduction).

Throws:: std::domain_error if mass <= 0, radius <= 0, or gearing <= 0.

◆ ElevatorFromSysId()

constexpr LinearSystem< 2, 1, 2 > wpi::math::Models::ElevatorFromSysId	(	decltype(1_V/1_mps)	kV,
		decltype(1_V/1_mps_sq)	kA )

inlinestaticconstexpr

Creates an elevator state-space model from SysId constants kᵥ (V/(m/s)) and kₐ (V/(m/s²)) from the feedforward model u = kᵥv + kₐa.

The states are [position, velocity], the inputs are [voltage], and the outputs are [position, velocity].

Parameters

kV	The velocity gain, in V/(m/s).
kA	The acceleration gain, in V/(m/s²).

Throws:: std::domain_error if kV < 0 or kA <= 0.

See also: https://github.com/wpilibsuite/allwpilib/tree/main/sysid

◆ FlywheelFromPhysicalConstants()

constexpr LinearSystem< 1, 1, 1 > wpi::math::Models::FlywheelFromPhysicalConstants	(	DCMotor	motor,
		wpi::units::kilogram_square_meter_t	J,
		double	gearing )

inlinestaticconstexpr

Creates a flywheel state-space model from physical constants.

The states are [angular velocity], the inputs are [voltage], and the outputs are [angular velocity].

Parameters

motor	The motor (or gearbox) attached to the flywheel.
J	The moment of inertia J of the flywheel.
gearing	Gear ratio from motor to flywheel (greater than 1 is a reduction).

Throws:: std::domain_error if J <= 0 or gearing <= 0.

◆ FlywheelFromSysId()

constexpr LinearSystem< 1, 1, 1 > wpi::math::Models::FlywheelFromSysId	(	decltype(1_V/1_rad_per_s)	kV,
		decltype(1_V/1_rad_per_s_sq)	kA )

inlinestaticconstexpr

Creates a flywheel state-space model from SysId constants kᵥ (V/(rad/s)) and kₐ (V/(rad/s²)) from the feedforward model u = kᵥv + kₐa.

The states are [velocity], the inputs are [voltage], and the outputs are [velocity].

Parameters

kV	The velocity gain, in V/(rad/s).
kA	The acceleration gain, in V/(rad/s²).

Throws:: std::domain_error if kV < 0 or kA <= 0.

See also: https://github.com/wpilibsuite/allwpilib/tree/main/sysid

◆ SingleJointedArmFromPhysicalConstants()

constexpr LinearSystem< 2, 1, 2 > wpi::math::Models::SingleJointedArmFromPhysicalConstants	(	DCMotor	motor,
		wpi::units::kilogram_square_meter_t	J,
		double	gearing )

inlinestaticconstexpr

Create a single-jointed arm state-space model from physical constants.

The states are [angle, angular velocity], the inputs are [voltage], and the outputs are [angle, angular velocity].

Parameters

motor	The motor (or gearbox) attached to the arm.
J	The moment of inertia J of the arm.
gearing	Gear ratio from motor to arm (greater than 1 is a reduction).

Throws:: std::domain_error if J <= 0 or gearing <= 0.

◆ SingleJointedArmFromSysId()

constexpr LinearSystem< 2, 1, 2 > wpi::math::Models::SingleJointedArmFromSysId	(	decltype(1_V/1_rad_per_s)	kV,
		decltype(1_V/1_rad_per_s_sq)	kA )

inlinestaticconstexpr

Creates a single-jointed arm state-space model from SysId constants kᵥ (V/(rad/s)) and kₐ (V/(rad/s²)) from the feedforward model u = kᵥv + kₐa.

The states are [position, velocity], the inputs are [voltage], and the outputs are [position, velocity].

Parameters

kV	The velocity gain, in volts/(unit/sec).
kA	The acceleration gain, in volts/(unit/sec²).

Throws:: std::domain_error if kV < 0 or kA <= 0.

See also: https://github.com/wpilibsuite/allwpilib/tree/main/sysid

The documentation for this class was generated from the following file:

wpi/math/system/Models.hpp

Public Types

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ Acceleration_t

◆ Velocity_t

Member Function Documentation

◆ DifferentialDriveFromPhysicalConstants()

◆ DifferentialDriveFromSysId() [1/2]

◆ DifferentialDriveFromSysId() [2/2]

◆ ElevatorFromPhysicalConstants()

◆ ElevatorFromSysId()

◆ FlywheelFromPhysicalConstants()

◆ FlywheelFromSysId()

◆ SingleJointedArmFromPhysicalConstants()

◆ SingleJointedArmFromSysId()