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[wpimath] LinearSystemId: Don't throw if Kv = 0 #6424

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Mar 10, 2024
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[wpimath] LinearSystemId: Don't throw if Kv = 0 #6424

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18 changes: 9 additions & 9 deletions wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
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Original file line number Diff line number Diff line change
Expand Up @@ -135,14 +135,14 @@ public static LinearSystem<N2, N1, N2> createDCMotorSystem(
* <p>u = K_v v + K_a a
*
* @param kV The velocity gain, in volts/(unit/sec)
* @param kA The acceleration gain, in volts/(unit/sec^2)
* @param kA The acceleration gain, in volts/(unit/sec²)
* @return A LinearSystem representing the given characterized constants.
* @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
* @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
* @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
public static LinearSystem<N2, N1, N2> createDCMotorSystem(double kV, double kA) {
if (kV <= 0.0) {
throw new IllegalArgumentException("Kv must be greater than zero.");
if (kV < 0.0) {
throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
}
if (kA <= 0.0) {
throw new IllegalArgumentException("Ka must be greater than zero.");
Expand Down Expand Up @@ -256,14 +256,14 @@ public static LinearSystem<N2, N1, N1> createSingleJointedArmSystem(
* <p>u = K_v v + K_a a
*
* @param kV The velocity gain, in volts/(unit/sec)
* @param kA The acceleration gain, in volts/(unit/sec^2)
* @param kA The acceleration gain, in volts/(unit/sec²)
* @return A LinearSystem representing the given characterized constants.
* @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
* @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
* @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
public static LinearSystem<N1, N1, N1> identifyVelocitySystem(double kV, double kA) {
if (kV <= 0.0) {
throw new IllegalArgumentException("Kv must be greater than zero.");
throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
}
if (kA <= 0.0) {
throw new IllegalArgumentException("Ka must be greater than zero.");
Expand Down Expand Up @@ -291,12 +291,12 @@ public static LinearSystem<N1, N1, N1> identifyVelocitySystem(double kV, double
* @param kV The velocity gain, in volts/(unit/sec)
* @param kA The acceleration gain, in volts/(unit/sec²)
* @return A LinearSystem representing the given characterized constants.
* @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
* @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
* @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
public static LinearSystem<N2, N1, N1> identifyPositionSystem(double kV, double kA) {
if (kV <= 0.0) {
throw new IllegalArgumentException("Kv must be greater than zero.");
throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
}
if (kA <= 0.0) {
throw new IllegalArgumentException("Ka must be greater than zero.");
Expand Down
18 changes: 9 additions & 9 deletions wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
*
* @param kV The velocity gain, in volts/(unit/sec).
* @param kA The acceleration gain, in volts/(unit/sec²).
* @throws std::domain_error if kV <= 0 or kA <= 0.
* @throws std::domain_error if kV < 0 or kA <= 0.
* @see <a
* href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
Expand All @@ -89,8 +89,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
static LinearSystem<1, 1, 1> IdentifyVelocitySystem(
decltype(1_V / Velocity_t<Distance>(1)) kV,
decltype(1_V / Acceleration_t<Distance>(1)) kA) {
if (kV <= decltype(kV){0}) {
throw std::domain_error("Kv must be greater than zero.");
if (kV < decltype(kV){0}) {
throw std::domain_error("Kv must be greater than or equal to zero.");
}
if (kA <= decltype(kA){0}) {
throw std::domain_error("Ka must be greater than zero.");
Expand Down Expand Up @@ -122,7 +122,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
* @param kV The velocity gain, in volts/(unit/sec).
* @param kA The acceleration gain, in volts/(unit/sec²).
*
* @throws std::domain_error if kV <= 0 or kA <= 0.
* @throws std::domain_error if kV < 0 or kA <= 0.
* @see <a
* href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
Expand All @@ -132,8 +132,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
static LinearSystem<2, 1, 1> IdentifyPositionSystem(
decltype(1_V / Velocity_t<Distance>(1)) kV,
decltype(1_V / Acceleration_t<Distance>(1)) kA) {
if (kV <= decltype(kV){0}) {
throw std::domain_error("Kv must be greater than zero.");
if (kV < decltype(kV){0}) {
throw std::domain_error("Kv must be greater than or equal to zero.");
}
if (kA <= decltype(kA){0}) {
throw std::domain_error("Ka must be greater than zero.");
Expand Down Expand Up @@ -251,16 +251,16 @@ class WPILIB_DLLEXPORT LinearSystemId {
* @param kV The velocity gain, in volts/(unit/sec).
* @param kA The acceleration gain, in volts/(unit/sec²).
*
* @throws std::domain_error if kV <= 0 or kA <= 0.
* @throws std::domain_error if kV < 0 or kA <= 0.
*/
template <typename Distance>
requires std::same_as<units::meter, Distance> ||
std::same_as<units::radian, Distance>
static LinearSystem<2, 1, 2> DCMotorSystem(
decltype(1_V / Velocity_t<Distance>(1)) kV,
decltype(1_V / Acceleration_t<Distance>(1)) kA) {
if (kV <= decltype(kV){0}) {
throw std::domain_error("Kv must be greater than zero.");
if (kV < decltype(kV){0}) {
throw std::domain_error("Kv must be greater than or equal to zero.");
}
if (kA <= decltype(kA){0}) {
throw std::domain_error("Ka must be greater than zero.");
Expand Down
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