wpilibsuite/allwpilib

LinearSystemLoop constructor overload to automate KF and LQR creation

Open

#4,160 opened on Apr 11, 2022

View on GitHub
 (0 comments) (0 reactions) (0 assignees)C++ (714 forks)auto 404
component: wpimatheffort: 2good first issuetype: feature

Repository metrics

Stars
 (1,281 stars)
PR merge metrics
 (PR metrics pending)

Description

Making the plant, Kalman filter, and LQR for common mechanisms could be abstracted more via another constructor overload. It would take:

  • LinearSystem instance
  • Controller error tolerance list
  • Controller input tolerance list
  • Estimator state tolerance list
  • Estimator measurement tolerance list

Contributor guide

Research direction
Study the existing LinearSystemLoop constructors and the KalmanFilter and LinearQuadraticRegulator classes to understand how KF and LQR are currently created with tolerances. Then design a constructor overload that accepts the specified tolerance lists and internally creates the KF and LQR.
Tech stack
None
Domain
backend api design
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
4
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
3-5 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++Control Theory
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
40