| Austin Schuh | 718c44c | 2018-02-17 15:38:01 -0800 | [diff] [blame] | 1 | cc_library( |
| 2 | name = "trajectory", |
| 3 | srcs = [ |
| 4 | "trajectory.cc", |
| 5 | ], |
| 6 | hdrs = [ |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame^] | 7 | "dlqr.h", |
| Austin Schuh | 718c44c | 2018-02-17 15:38:01 -0800 | [diff] [blame] | 8 | "trajectory.h", |
| 9 | ], |
| Austin Schuh | 8e99b82 | 2018-02-18 00:15:36 -0800 | [diff] [blame] | 10 | deps = [ |
| 11 | ":dynamics", |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame^] | 12 | "//frc971/control_loops:jacobian", |
| Austin Schuh | 8e99b82 | 2018-02-18 00:15:36 -0800 | [diff] [blame] | 13 | "//third_party/eigen", |
| 14 | ], |
| Austin Schuh | 718c44c | 2018-02-17 15:38:01 -0800 | [diff] [blame] | 15 | ) |
| 16 | |
| 17 | cc_test( |
| 18 | name = "trajectory_test", |
| 19 | srcs = [ |
| 20 | "trajectory_test.cc", |
| 21 | ], |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame^] | 22 | linkopts = ["-lslicot"], |
| 23 | restricted_to = ["//tools:k8"], |
| Austin Schuh | 718c44c | 2018-02-17 15:38:01 -0800 | [diff] [blame] | 24 | deps = [ |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame^] | 25 | ":demo_path", |
| 26 | ":dynamics", |
| Austin Schuh | 718c44c | 2018-02-17 15:38:01 -0800 | [diff] [blame] | 27 | ":trajectory", |
| 28 | "//aos/testing:googletest", |
| 29 | "//third_party/eigen", |
| 30 | ], |
| 31 | ) |
| Austin Schuh | 7445586 | 2018-02-17 17:14:59 -0800 | [diff] [blame] | 32 | |
| 33 | cc_library( |
| 34 | name = "dynamics", |
| 35 | srcs = [ |
| 36 | "dynamics.cc", |
| 37 | ], |
| 38 | hdrs = [ |
| 39 | "dynamics.h", |
| 40 | ], |
| 41 | deps = [ |
| 42 | "//frc971/control_loops:runge_kutta", |
| 43 | "//third_party/eigen", |
| 44 | ], |
| 45 | ) |
| 46 | |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame^] | 47 | cc_library( |
| 48 | name = "demo_path", |
| 49 | srcs = [ |
| 50 | "demo_path.cc", |
| 51 | ], |
| 52 | hdrs = ["demo_path.h"], |
| 53 | deps = [":trajectory"], |
| 54 | ) |
| 55 | |
| Austin Schuh | 7445586 | 2018-02-17 17:14:59 -0800 | [diff] [blame] | 56 | cc_test( |
| 57 | name = "dynamics_test", |
| 58 | srcs = [ |
| 59 | "dynamics_test.cc", |
| 60 | ], |
| 61 | deps = [ |
| 62 | ":dynamics", |
| 63 | "//aos/testing:googletest", |
| 64 | ], |
| 65 | ) |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame^] | 66 | |
| 67 | cc_binary( |
| 68 | name = "trajectory_plot", |
| 69 | srcs = [ |
| 70 | "trajectory_plot.cc", |
| 71 | ], |
| 72 | linkopts = ["-lslicot"], |
| 73 | restricted_to = ["//tools:k8"], |
| 74 | deps = [ |
| 75 | ":demo_path", |
| 76 | ":trajectory", |
| 77 | "//third_party/eigen", |
| 78 | "//third_party/matplotlib-cpp", |
| 79 | ], |
| 80 | ) |
| 81 | |