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[wpimath] improve LTVUnicycleController docs (NFC) #7599

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Dec 28, 2024
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[wpimath] improve LTVUnicycleController docs (NFC) #7599

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23 changes: 14 additions & 9 deletions wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -54,8 +54,9 @@ private enum State {

/**
* Constructs a linear time-varying unicycle controller with default maximum desired error
* tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s,
* 2 rad/s).
* tolerances of (x = 0.0625 m, y = 0.125 m, heading = 2 rad), default maximum desired control
* effort of (linear velocity = 1 m/s, angular velocity = 2 rad/s), and default maximum Velocity
* of 9 m/s.
*
* @param dt Discretization timestep in seconds.
*/
Expand All @@ -65,13 +66,13 @@ public LTVUnicycleController(double dt) {

/**
* Constructs a linear time-varying unicycle controller with default maximum desired error
* tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s,
* 2 rad/s).
* tolerances of (x = 0.0625 m, y = 0.125 m, heading = 2 rad), default maximum desired control
* effort of (1 m/s, 2 rad/s).
*
* @param dt Discretization timestep in seconds.
* @param maxVelocity The maximum velocity in meters per second for the controller gain lookup
* table. The default is 9 m/s.
* @throws IllegalArgumentException if maxVelocity <= 0.
* @throws IllegalArgumentException if maxVelocity <= 0 m/s or >= 15 m/s.
*/
public LTVUnicycleController(double dt, double maxVelocity) {
this(VecBuilder.fill(0.0625, 0.125, 2.0), VecBuilder.fill(1.0, 2.0), dt, maxVelocity);
Expand All @@ -84,8 +85,11 @@ public LTVUnicycleController(double dt, double maxVelocity) {
* href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
* for how to select the tolerances.
*
* @param qelems The maximum desired error tolerance for each state.
* @param relems The maximum desired control effort for each input.
* <p>The default maximum Velocity is 9 m/s.
*
* @param qelems The maximum desired error tolerance for each state (x, y, heading).
* @param relems The maximum desired control effort for each input (linear velocity, angular
* velocity).
* @param dt Discretization timestep in seconds.
*/
public LTVUnicycleController(Vector<N3> qelems, Vector<N2> relems, double dt) {
Expand All @@ -99,8 +103,9 @@ public LTVUnicycleController(Vector<N3> qelems, Vector<N2> relems, double dt) {
* href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
* for how to select the tolerances.
*
* @param qelems The maximum desired error tolerance for each state.
* @param relems The maximum desired control effort for each input.
* @param qelems The maximum desired error tolerance for each state (x, y, heading).
* @param relems The maximum desired control effort for each input (linear velocity, angular
* velocity).
* @param dt Discretization timestep in seconds.
* @param maxVelocity The maximum velocity in meters per second for the controller gain lookup
* table. The default is 9 m/s.
Expand Down
13 changes: 8 additions & 5 deletions wpimath/src/main/native/include/frc/controller/LTVUnicycleController.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,13 +33,14 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
public:
/**
* Constructs a linear time-varying unicycle controller with default maximum
* desired error tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum
* desired control effort of (1 m/s, 2 rad/s).
* desired error tolerances of (x = 0.0625 m, y = 0.125 m, heading = 2 rad)
* and default maximum desired control effort of (linear velocity = 1 m/s,
* angular velocity = 2 rad/s).
*
* @param dt Discretization timestep.
* @param maxVelocity The maximum velocity for the controller gain lookup
* table.
* @throws std::domain_error if maxVelocity &lt;= 0.
* @throws std::domain_error if maxVelocity <= 0 m/s or >= 15 m/s.
*/
explicit LTVUnicycleController(
units::second_t dt, units::meters_per_second_t maxVelocity = 9_mps);
Expand All @@ -51,8 +52,10 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
* https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
* for how to select the tolerances.
*
* @param Qelems The maximum desired error tolerance for each state.
* @param Relems The maximum desired control effort for each input.
* @param Qelems The maximum desired error tolerance for each state (x, y,
* heading).
* @param Relems The maximum desired control effort for each input (linear
* velocity, angular velocity).
* @param dt Discretization timestep.
* @param maxVelocity The maximum velocity for the controller gain lookup
* table.
Expand Down
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