[wpimath] Implement Tsitouras 5th order numerical integrator #7383
+622
−21
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Advay17
force-pushed
the
Tsit5
branch
2 times, most recently
from
7a33067 to
17135d5
Compare
wpimath/src/main/native/include/frc/system/NumericalIntegration.h
Outdated
Show resolved
Hide resolved
wpimath/src/test/java/edu/wpi/first/math/system/NumericalIntegrationTest.java
Outdated
Show resolved
Hide resolved
wpimath/src/test/native/cpp/system/NumericalIntegrationTest.cpp
Outdated
Show resolved
Hide resolved
calcmogul
requested changes
Nov 12, 2024
wpimath/src/main/native/include/frc/system/NumericalIntegration.h
Outdated
Show resolved
Hide resolved
calcmogul
changed the title
calcmogul
requested changes
Nov 12, 2024
wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
Outdated
Show resolved
Hide resolved
wpimath/src/main/native/include/frc/system/NumericalIntegration.h
Outdated
Show resolved
Hide resolved
wpimath/src/main/native/include/frc/system/NumericalIntegration.h
Outdated
Show resolved
Hide resolved
wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
Outdated
Show resolved
Hide resolved
wpimath/src/test/native/cpp/system/NumericalIntegrationTest.cpp
Outdated
Show resolved
Hide resolved
Advay17
force-pushed
the
Tsit5
branch
2 times, most recently
from
8d64dab to
f39bda2
Compare
|
/format |
calcmogul
requested changes
Nov 12, 2024
wpimath/src/test/native/cpp/system/NumericalIntegrationTest.cpp
Outdated
Show resolved
Hide resolved
calcmogul
requested changes
Nov 12, 2024
wpimath/src/test/native/cpp/system/NumericalIntegrationTest.cpp
Outdated
Show resolved
Hide resolved
Co-authored-by: Tyler Veness <[email protected]>
|
Looks like the arm simulation test hung in C++ and Java on a few platforms. This could indicate a bug in the new integrator that's causing the max error to be really large (so the steps are tiny and the solver takes forever). |
|
The issue could be related to numerical precision, a bug in the implementation, or a bug in the paper. You could compare it against https://github.com/SciML/OrdinaryDiffEq.jl/tree/master/lib/OrdinaryDiffEqTsit5/src. |
|
The float method in the linked repo appeared to be at most 4 decimal places more precise, I can try updating the constants. In addition, the signs for the b2 constants are flipped in my code and the paper when compared to the other repo, so I will try swapping those as well. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Closes #7123