search

RobotCasserole1736 / CasseroleLib

Common Libraries used year-to-year for FRC robot code
MIT License
6 stars 1 forks source link

Create integration class #5

Closed gerth2 closed 8 years ago

gerth2 commented 8 years ago

In Math, there is a class to take a derivative. Add a class to take a descrete integral. Ask chris if you don't know what that is or how to do it. He will happily expound upon the mathematics of descrete integration.

gerth2 commented 8 years ago

branch from 69b87c5135175

gerth2 commented 8 years ago

Since a simple integrator was needed for casserolePID, I went ahead and did the super-simple implementation. We can re-based your branch off of latest on master, and add the other integration methods (cubic spline is the one we've done before, although having lots of options would be nice).

integration methods to check out: General numerical integration techniques: https://en.wikipedia.org/wiki/Numerical_integration Riemann integral (what's there already): https://en.wikipedia.org/wiki/Riemann_integral Trapezoidal rule: https://en.wikipedia.org/wiki/Trapezoidal_rule Higher-order polynominal spline integration: https://en.wikipedia.org/wiki/Newton%E2%80%93Cotes_formulas (These are the ones I'd like to implement - the tradeoff is that higher order integration techniques take more memory and time, but can produce more accurate results)

gerth2 commented 8 years ago

done done DONE!!!!