commit 446e4f64bc011d5c25b54e215c1e01c044974ead
author justinT21 <jjturcot@gmail.com> Sun Jun 16 22:36:10 2024 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Jun 22 17:30:07 2024 -0700
tree ddb438d6fec23a352d835d45c2922594af66e28f
parent acfda878d17c2981040c6904fab3d718e2d4bc67

Port over sympy physics solving to c++ using symengine

This is pretty much a direct port from commit bd8c69964c6ef7e6331d192c6e648132690136c8.

Signed-off-by: justinT21 <jjturcot@gmail.com>
Change-Id: I43508858fb92dd124dd2cb994bfb250e4fac2170

frc971/control_loops/swerve/BUILD

diff --git a/frc971/control_loops/swerve/BUILD b/frc971/control_loops/swerve/BUILD
index ccba681..4fd73d2 100644
--- a/frc971/control_loops/swerve/BUILD
+++ b/frc971/control_loops/swerve/BUILD
@@ -1,3 +1,4 @@
+load("@aspect_bazel_lib//lib:run_binary.bzl", "run_binary")
 load("//aos:config.bzl", "aos_config")
 load("//aos/flatbuffers:generate.bzl", "static_flatbuffer")
 
@@ -96,3 +97,52 @@
     target_compatible_with = ["@platforms//os:linux"],
     deps = ["//frc971/input:aos_config"],
 )
+
+cc_library(
+    name = "motors",
+    hdrs = [
+        "motors.h",
+    ],
+    deps = [
+        "@symengine",
+    ],
+)
+
+cc_binary(
+    name = "generate_physics",
+    srcs = [
+        "generate_physics.cc",
+    ],
+    deps = [
+        ":motors",
+        "//aos:init",
+        "//aos/util:file",
+        "@com_github_google_glog//:glog",
+        "@com_google_absl//absl/strings",
+        "@com_google_absl//absl/strings:str_format",
+        "@symengine",
+    ],
+)
+
+run_binary(
+    name = "dynamics_codegen",
+    outs = [
+        "dynamics.cc",
+        "dynamics.h",
+    ],
+    args = [
+        "--output_base=$(BINDIR)/",
+        "--cc_output_path=$(location :dynamics.cc)",
+        "--h_output_path=$(location :dynamics.h)",
+    ],
+    tool = ":generate_physics",
+)
+
+cc_library(
+    name = "dynamics",
+    srcs = ["dynamics.cc"],
+    hdrs = ["dynamics.h"],
+    deps = [
+        "@org_tuxfamily_eigen//:eigen",
+    ],
+)