Flatten wpimath namespaces

Author: virtuald

docs/conf.py

@@ -74,19 +74,6 @@
 
 # WPIMath
 gen_package(root, "wpimath")
-gen_package(root, "wpimath.controller")
-gen_package(root, "wpimath.estimator")
-gen_package(root, "wpimath.filter")
-gen_package(root, "wpimath.geometry")
-gen_package(root, "wpimath.interpolation")
-gen_package(root, "wpimath.kinematics")
-gen_package(root, "wpimath.optimization")
-gen_package(root, "wpimath.path")
-gen_package(root, "wpimath.spline")
-gen_package(root, "wpimath.system")
-gen_package(root, "wpimath.system.plant")
-gen_package(root, "wpimath.trajectory")
-gen_package(root, "wpimath.trajectory.constraint")
 
 # WPINet
 gen_package(root, "wpinet")

subprojects/robotpy-romi/pyproject.toml

@@ -45,7 +45,7 @@ update_init = ["romi"]
 name = "romi"
 wraps = ["robotpy-native-romi"]
 depends = [
-    "wpilib", "wpimath_geometry"
+    "wpilib", "wpimath"
 ]
 
 [tool.semiwrap.extension_modules."romi._romi".headers]

subprojects/robotpy-wpilib/pyproject.toml

@@ -74,8 +74,7 @@ scan_headers_ignore = [
 name = "wpilib"
 wraps = ["robotpy-native-wpilib"]
 depends = [
-    "wpihal", "wpiutil", "ntcore",
-    "wpimath", "wpimath_geometry", "wpimath_controls", "wpimath_filter",
+    "wpihal", "wpiutil", "ntcore", "wpimath"
 ]
 includes = ["wpilib/src"]
 
@@ -227,7 +226,7 @@ SensorUtil = "wpi/util/SensorUtil.hpp"
 [tool.semiwrap.extension_modules."wpilib.simulation._simulation"]
 name = "wpilib_simulation"
 wraps = ["robotpy-native-wpilib"]
-depends = ["wpilib", "wpimath_controls", "wpimath_geometry", "wpimath_kinematics"]
+depends = ["wpilib", "wpimath"]
 yaml_path = "semiwrap/simulation"
 
 [tool.semiwrap.extension_modules."wpilib.simulation._simulation".headers]

subprojects/robotpy-wpilib/wpilib/__init__.py

@@ -1,8 +1,5 @@
 from . import _init__wpilib
 
-# TODO: robotpy-build subpackage bug
-from wpimath._controls._controls import trajectory as _
-
 # autogenerated by 'semiwrap create-imports wpilib wpilib._wpilib'
 from ._wpilib import (
     ADXL345_I2C,

subprojects/robotpy-wpilib/wpilib/simulation/__init__.py

@@ -1,8 +1,5 @@
 from . import _init__simulation
 
-# needed for dcmotor return value, TODO fix in robotpy-build
-from wpimath._controls._controls import plant as _
-
 # autogenerated by 'semiwrap create-imports wpilib.simulation wpilib.simulation._simulation'
 from ._simulation import (
     ADXL345Sim,

subprojects/robotpy-wpimath/.gitignore

@@ -22,27 +22,7 @@ MANIFEST
 /wpimath/wpimath.pc
 /wpimath/wpimath-casters.pc
 /wpimath/wpimath-casters.pybind11.json
-/wpimath/_controls/_init__controls.py
-/wpimath/_controls/wpimath_controls.pc
-/wpimath/_controls/trampolines/
-/wpimath/filter/_init__filter.py
-/wpimath/filter/wpimath_filter.pc
-/wpimath/filter/trampolines/
-/wpimath/geometry/_init__geometry.py
-/wpimath/geometry/wpimath_geometry.pc
-/wpimath/geometry/trampolines/
-/wpimath/interfaces/_init__interfaces.py
-/wpimath/interpolation/_init__interpolation.py
-/wpimath/interpolation/wpimath_interpolation.pc
-/wpimath/interpolation/trampolines/
-/wpimath/kinematics/_init__kinematics.py
-/wpimath/kinematics/wpimath_kinematics.pc
-/wpimath/kinematics/trampolines/
-/wpimath/spline/_init__spline.py
-/wpimath/spline/wpimath_spline.pc
-/wpimath/spline/trampolines/
-/wpimath/trajectory/_init__trajectory.py
-
+/wpimath/trampolines
 rpy-include
 /wpimath/_impl/_init_wpimath_cpp.py
 /wpimath/_impl/pkgcfg.py

subprojects/robotpy-wpimath/meson.build

@@ -8,28 +8,4 @@ wpimath_sources += files(
     'wpimath/src/wpimath.cpp',
 )
 
-wpimath_controls_sources += files(
-    'wpimath/_controls/controls.cpp',
-)
-
-wpimath_filter_sources += files(
-    'wpimath/filter/filter.cpp',
-)
-
-wpimath_geometry_sources += files(
-    'wpimath/geometry/geometry.cpp',
-)
-
-wpimath_interpolation_sources += files(
-    'wpimath/interpolation/interpolation.cpp',
-)
-
-wpimath_kinematics_sources += files(
-    'wpimath/kinematics/kinematics.cpp',
-)
-
-wpimath_spline_sources += files(
-    'wpimath/spline/spline.cpp',
-)
-
 subdir('semiwrap/modules')

subprojects/robotpy-wpimath/pyproject.toml

@@ -41,18 +41,6 @@ packages = ["wpimath"]
 [tool.semiwrap]
 update_init = [
     "wpimath",
-    "wpimath.controller wpimath._controls._controls.controller",
-    "wpimath.estimator wpimath._controls._controls.estimator",
-    "wpimath.filter",
-    "wpimath.geometry",
-    "wpimath.kinematics",
-    "wpimath.interpolation",
-    "wpimath.optimization wpimath._controls._controls.optimization",
-    "wpimath.path wpimath._controls._controls.path",
-    "wpimath.spline",
-    "wpimath.system wpimath._controls._controls.system",
-    "wpimath.trajectory wpimath._controls._controls.trajectory",
-    "wpimath.trajectory.constraint wpimath._controls._controls.constraint",
 ]
 
 scan_headers_ignore = [
@@ -104,7 +92,7 @@ scan_headers_ignore = [
 
     "wpi/math/util/MathShared.hpp",
 
-    "rpy/geometryToString.h",
+    "geometryToString.h",
     "PyTrajectoryConstraint.h",
     "_units_base_type_caster.h",
 ]
@@ -1465,35 +1453,53 @@ includes = ["wpimath/_impl/src"]
 depends = ["wpiutil", "wpimath-casters"]
 
 [tool.semiwrap.extension_modules."wpimath._wpimath".headers]
-# frc
+# wpi/math/util
 ComputerVisionUtil = "wpi/math/util/ComputerVisionUtil.hpp"
 # DARE = "wpi/math/linalg/DARE.hpp"
 # EigenCore = "wpi/math/linalg/EigenCore.hpp"
 MathUtil = "wpi/math/util/MathUtil.hpp"
 # StateSpaceUtil = "wpi/math/util/StateSpaceUtil.hpp"
 
+# wpi/math/controller
+ArmFeedforward = "wpi/math/controller/ArmFeedforward.hpp"
+BangBangController = "wpi/math/controller/BangBangController.hpp"
+ControlAffinePlantInversionFeedforward = "wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp"
+DifferentialDriveAccelerationLimiter = "wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp"
+DifferentialDriveFeedforward = "wpi/math/controller/DifferentialDriveFeedforward.hpp"
+DifferentialDriveWheelVoltages = "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
+ElevatorFeedforward = "wpi/math/controller/ElevatorFeedforward.hpp"
+ImplicitModelFollower = "wpi/math/controller/ImplicitModelFollower.hpp"
+LTVDifferentialDriveController = "wpi/math/controller/LTVDifferentialDriveController.hpp"
+LTVUnicycleController = "wpi/math/controller/LTVUnicycleController.hpp"
+LinearPlantInversionFeedforward = "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+LinearQuadraticRegulator = "wpi/math/controller/LinearQuadraticRegulator.hpp"
+PIDController = "wpi/math/controller/PIDController.hpp"
+ProfiledPIDController = "wpi/math/controller/ProfiledPIDController.hpp"
+SimpleMotorFeedforward = "wpi/math/controller/SimpleMotorFeedforward.hpp"
 
-[tool.semiwrap.extension_modules."wpimath.filter._filter"]
-name = "wpimath_filter"
-wraps = ["robotpy-native-wpimath"]
-depends = ["wpimath"]
-yaml_path = "semiwrap/filter"
+# wpi/math/estimator
+# AngleStatistics = "wpi/math/estimator/AngleStatistics.hpp"
+DifferentialDrivePoseEstimator = "wpi/math/estimator/DifferentialDrivePoseEstimator.hpp"
+DifferentialDrivePoseEstimator3d = "wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp"
+ExtendedKalmanFilter = "wpi/math/estimator/ExtendedKalmanFilter.hpp"
+KalmanFilter = "wpi/math/estimator/KalmanFilter.hpp"
+# KalmanFilterLatencyCompensator = "wpi/math/estimator/KalmanFilterLatencyCompensator.hpp"
+MecanumDrivePoseEstimator = "wpi/math/estimator/MecanumDrivePoseEstimator.hpp"
+MecanumDrivePoseEstimator3d = "wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp"
+# MerweScaledSigmaPoints = "wpi/math/estimator/MerweScaledSigmaPoints.hpp"
+PoseEstimator = "wpi/math/estimator/PoseEstimator.hpp"
+PoseEstimator3d = "wpi/math/estimator/PoseEstimator3d.hpp"
+SwerveDrivePoseEstimator = "wpi/math/estimator/SwerveDrivePoseEstimator.hpp"
+SwerveDrivePoseEstimator3d = "wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp"
+# UnscentedKalmanFilter = "wpi/math/estimator/UnscentedKalmanFilter.hpp"
+# UnscentedTransform = "wpi/math/estimator/UnscentedTransform.hpp"
 
-[tool.semiwrap.extension_modules."wpimath.filter._filter".headers]
+# wpi/math/filter
 Debouncer = "wpi/math/filter/Debouncer.hpp"
 LinearFilter = "wpi/math/filter/LinearFilter.hpp"
 MedianFilter = "wpi/math/filter/MedianFilter.hpp"
 SlewRateLimiter = "wpi/math/filter/SlewRateLimiter.hpp"
 
-
-[tool.semiwrap.extension_modules."wpimath.geometry._geometry"]
-name = "wpimath_geometry"
-wraps = ["robotpy-native-wpimath"]
-depends = ["wpimath"]
-includes = ["wpimath/geometry/include"]
-yaml_path = "semiwrap/geometry"
-
-[tool.semiwrap.extension_modules."wpimath.geometry._geometry".headers]
 # wpi/math/geometry
 CoordinateAxis = "wpi/math/geometry/CoordinateAxis.hpp"
 CoordinateSystem = "wpi/math/geometry/CoordinateSystem.hpp"
@@ -1511,24 +1517,9 @@ Translation3d = "wpi/math/geometry/Translation3d.hpp"
 Twist2d = "wpi/math/geometry/Twist2d.hpp"
 Twist3d = "wpi/math/geometry/Twist3d.hpp"
 
-[tool.semiwrap.extension_modules."wpimath.interpolation._interpolation"]
-name = "wpimath_interpolation"
-wraps = ["robotpy-native-wpimath"]
-depends = ["wpimath_geometry"]
-yaml_path = "semiwrap/interpolation"
-
-[tool.semiwrap.extension_modules."wpimath.interpolation._interpolation".headers]
 # wpi/math/interpolation
 TimeInterpolatableBuffer = "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
 
-
-[tool.semiwrap.extension_modules."wpimath.kinematics._kinematics"]
-name = "wpimath_kinematics"
-wraps = ["robotpy-native-wpimath"]
-depends = ["wpimath_geometry"]
-yaml_path = "semiwrap/kinematics"
-
-[tool.semiwrap.extension_modules."wpimath.kinematics._kinematics".headers]
 # wpi/math/kinematics
 ChassisSpeeds = "wpi/math/kinematics/ChassisSpeeds.hpp"
 DifferentialDriveKinematics = "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
@@ -1550,72 +1541,19 @@ SwerveDriveOdometry3d = "wpi/math/kinematics/SwerveDriveOdometry3d.hpp"
 SwerveModulePosition = "wpi/math/kinematics/SwerveModulePosition.hpp"
 SwerveModuleState = "wpi/math/kinematics/SwerveModuleState.hpp"
 
+# wpi/math/optimization
+SimulatedAnnealing = "wpi/math/optimization/SimulatedAnnealing.hpp"
 
-[tool.semiwrap.extension_modules."wpimath.spline._spline"]
-name = "wpimath_spline"
-wraps = ["robotpy-native-wpimath"]
-depends = ["wpimath_geometry"]
-yaml_path = "semiwrap/spline"
+# wpi/math/path
+TravelingSalesman = "wpi/math/path/TravelingSalesman.hpp"
 
-[tool.semiwrap.extension_modules."wpimath.spline._spline".headers]
 # wpi/math/spline
 CubicHermiteSpline = "wpi/math/spline/CubicHermiteSpline.hpp"
 QuinticHermiteSpline = "wpi/math/spline/QuinticHermiteSpline.hpp"
 Spline = "wpi/math/spline/Spline.hpp"
 SplineHelper = "wpi/math/spline/SplineHelper.hpp"
 SplineParameterizer = "wpi/math/spline/SplineParameterizer.hpp"
 
-
-[tool.semiwrap.extension_modules."wpimath._controls._controls"]
-name = "wpimath_controls"
-wraps = ["robotpy-native-wpimath"]
-depends = ["wpimath", "wpimath_geometry", "wpimath_kinematics", "wpimath_spline"]
-yaml_path = "semiwrap/controls"
-
-[tool.semiwrap.extension_modules."wpimath._controls._controls".headers]
-# wpi/math/controller
-ArmFeedforward = "wpi/math/controller/ArmFeedforward.hpp"
-BangBangController = "wpi/math/controller/BangBangController.hpp"
-ControlAffinePlantInversionFeedforward = "wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp"
-DifferentialDriveAccelerationLimiter = "wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp"
-DifferentialDriveFeedforward = "wpi/math/controller/DifferentialDriveFeedforward.hpp"
-DifferentialDriveWheelVoltages = "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
-ElevatorFeedforward = "wpi/math/controller/ElevatorFeedforward.hpp"
-ImplicitModelFollower = "wpi/math/controller/ImplicitModelFollower.hpp"
-LTVDifferentialDriveController = "wpi/math/controller/LTVDifferentialDriveController.hpp"
-LTVUnicycleController = "wpi/math/controller/LTVUnicycleController.hpp"
-LinearPlantInversionFeedforward = "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
-LinearQuadraticRegulator = "wpi/math/controller/LinearQuadraticRegulator.hpp"
-PIDController = "wpi/math/controller/PIDController.hpp"
-ProfiledPIDController = "wpi/math/controller/ProfiledPIDController.hpp"
-SimpleMotorFeedforward = "wpi/math/controller/SimpleMotorFeedforward.hpp"
-
-# wpi/math/estimator
-# AngleStatistics = "wpi/math/estimator/AngleStatistics.hpp"
-DifferentialDrivePoseEstimator = "wpi/math/estimator/DifferentialDrivePoseEstimator.hpp"
-DifferentialDrivePoseEstimator3d = "wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp"
-ExtendedKalmanFilter = "wpi/math/estimator/ExtendedKalmanFilter.hpp"
-KalmanFilter = "wpi/math/estimator/KalmanFilter.hpp"
-# KalmanFilterLatencyCompensator = "wpi/math/estimator/KalmanFilterLatencyCompensator.hpp"
-MecanumDrivePoseEstimator = "wpi/math/estimator/MecanumDrivePoseEstimator.hpp"
-MecanumDrivePoseEstimator3d = "wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp"
-# MerweScaledSigmaPoints = "wpi/math/estimator/MerweScaledSigmaPoints.hpp"
-PoseEstimator = "wpi/math/estimator/PoseEstimator.hpp"
-PoseEstimator3d = "wpi/math/estimator/PoseEstimator3d.hpp"
-SwerveDrivePoseEstimator = "wpi/math/estimator/SwerveDrivePoseEstimator.hpp"
-SwerveDrivePoseEstimator3d = "wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp"
-# UnscentedKalmanFilter = "wpi/math/estimator/UnscentedKalmanFilter.hpp"
-# UnscentedTransform = "wpi/math/estimator/UnscentedTransform.hpp"
-
-# wpi/math/optimization
-SimulatedAnnealing = "wpi/math/optimization/SimulatedAnnealing.hpp"
-
-# wpi/math/random
-# Normal = "wpi/math/random/Normal.hpp"
-
-# wpi/math/path
-TravelingSalesman = "wpi/math/path/TravelingSalesman.hpp"
-
 # wpi/math/system
 # Discretization = "wpi/math/system/Discretization.hpp"
 LinearSystem = "wpi/math/system/LinearSystem.hpp"

…ath/semiwrap/controls/ArmFeedforward.yml …otpy-wpimath/semiwrap/ArmFeedforward.ymlsubprojects/robotpy-wpimath/semiwrap/controls/ArmFeedforward.yml renamed to subprojects/robotpy-wpimath/semiwrap/ArmFeedforward.yml subprojects/robotpy-wpimath/semiwrap/controls/ArmFeedforward.yml renamed to subprojects/robotpy-wpimath/semiwrap/ArmFeedforward.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 classes:
   wpi::math::ArmFeedforward:
     force_type_casters:

…semiwrap/controls/BangBangController.yml …-wpimath/semiwrap/BangBangController.ymlsubprojects/robotpy-wpimath/semiwrap/controls/BangBangController.yml renamed to subprojects/robotpy-wpimath/semiwrap/BangBangController.yml subprojects/robotpy-wpimath/semiwrap/controls/BangBangController.yml renamed to subprojects/robotpy-wpimath/semiwrap/BangBangController.yml

@@ -1,6 +1,3 @@
-defaults:
-  subpackage: controller
-
 classes:
   wpi::math::BangBangController:
     ignored_bases: