| 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 = [ |
| 7 | "trajectory.h", |
| 8 | ], |
| Austin Schuh | 8e99b82 | 2018-02-18 00:15:36 -0800 | [diff] [blame] | 9 | deps = [ |
| 10 | ":dynamics", |
| Austin Schuh | 0378513 | 2018-02-19 18:29:06 -0800 | [diff] [blame] | 11 | "//frc971/control_loops:dlqr", |
| 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 | ], |
| 22 | deps = [ |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame] | 23 | ":demo_path", |
| 24 | ":dynamics", |
| Austin Schuh | 54e5bb5 | 2018-02-19 01:09:18 -0800 | [diff] [blame^] | 25 | ":ekf", |
| Austin Schuh | 718c44c | 2018-02-17 15:38:01 -0800 | [diff] [blame] | 26 | ":trajectory", |
| 27 | "//aos/testing:googletest", |
| 28 | "//third_party/eigen", |
| 29 | ], |
| 30 | ) |
| Austin Schuh | 7445586 | 2018-02-17 17:14:59 -0800 | [diff] [blame] | 31 | |
| 32 | cc_library( |
| 33 | name = "dynamics", |
| 34 | srcs = [ |
| 35 | "dynamics.cc", |
| 36 | ], |
| 37 | hdrs = [ |
| 38 | "dynamics.h", |
| 39 | ], |
| 40 | deps = [ |
| 41 | "//frc971/control_loops:runge_kutta", |
| 42 | "//third_party/eigen", |
| 43 | ], |
| 44 | ) |
| 45 | |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame] | 46 | cc_library( |
| 47 | name = "demo_path", |
| 48 | srcs = [ |
| 49 | "demo_path.cc", |
| 50 | ], |
| 51 | hdrs = ["demo_path.h"], |
| 52 | deps = [":trajectory"], |
| 53 | ) |
| 54 | |
| Austin Schuh | 7445586 | 2018-02-17 17:14:59 -0800 | [diff] [blame] | 55 | cc_test( |
| 56 | name = "dynamics_test", |
| 57 | srcs = [ |
| 58 | "dynamics_test.cc", |
| 59 | ], |
| 60 | deps = [ |
| 61 | ":dynamics", |
| 62 | "//aos/testing:googletest", |
| 63 | ], |
| 64 | ) |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame] | 65 | |
| 66 | cc_binary( |
| 67 | name = "trajectory_plot", |
| 68 | srcs = [ |
| 69 | "trajectory_plot.cc", |
| 70 | ], |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame] | 71 | restricted_to = ["//tools:k8"], |
| 72 | deps = [ |
| 73 | ":demo_path", |
| Austin Schuh | 54e5bb5 | 2018-02-19 01:09:18 -0800 | [diff] [blame^] | 74 | ":ekf", |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame] | 75 | ":trajectory", |
| 76 | "//third_party/eigen", |
| 77 | "//third_party/matplotlib-cpp", |
| 78 | ], |
| 79 | ) |
| Austin Schuh | 54e5bb5 | 2018-02-19 01:09:18 -0800 | [diff] [blame^] | 80 | |
| 81 | cc_library( |
| 82 | name = "ekf", |
| 83 | srcs = [ |
| 84 | "ekf.cc", |
| 85 | ], |
| 86 | hdrs = [ |
| 87 | "ekf.h", |
| 88 | ], |
| 89 | deps = [ |
| 90 | ":dynamics", |
| 91 | "//frc971/control_loops:jacobian", |
| 92 | "//third_party/eigen", |
| 93 | ], |
| 94 | ) |