| 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 | 2a3e063 | 2018-02-19 16:24:49 -0800 | [diff] [blame] | 9 | visibility = ["//visibility:public"], |
| Austin Schuh | 8e99b82 | 2018-02-18 00:15:36 -0800 | [diff] [blame] | 10 | deps = [ |
| 11 | ":dynamics", |
| Austin Schuh | cb09171 | 2018-02-21 20:01:55 -0800 | [diff] [blame] | 12 | "//aos/common/logging", |
| Austin Schuh | 0378513 | 2018-02-19 18:29:06 -0800 | [diff] [blame] | 13 | "//frc971/control_loops:dlqr", |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame] | 14 | "//frc971/control_loops:jacobian", |
| Austin Schuh | 8e99b82 | 2018-02-18 00:15:36 -0800 | [diff] [blame] | 15 | "//third_party/eigen", |
| 16 | ], |
| Austin Schuh | 718c44c | 2018-02-17 15:38:01 -0800 | [diff] [blame] | 17 | ) |
| 18 | |
| 19 | cc_test( |
| 20 | name = "trajectory_test", |
| 21 | srcs = [ |
| 22 | "trajectory_test.cc", |
| 23 | ], |
| 24 | deps = [ |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame] | 25 | ":demo_path", |
| 26 | ":dynamics", |
| Austin Schuh | 54e5bb5 | 2018-02-19 01:09:18 -0800 | [diff] [blame] | 27 | ":ekf", |
| Austin Schuh | 718c44c | 2018-02-17 15:38:01 -0800 | [diff] [blame] | 28 | ":trajectory", |
| 29 | "//aos/testing:googletest", |
| 30 | "//third_party/eigen", |
| 31 | ], |
| 32 | ) |
| Austin Schuh | 7445586 | 2018-02-17 17:14:59 -0800 | [diff] [blame] | 33 | |
| 34 | cc_library( |
| 35 | name = "dynamics", |
| 36 | srcs = [ |
| 37 | "dynamics.cc", |
| 38 | ], |
| 39 | hdrs = [ |
| 40 | "dynamics.h", |
| 41 | ], |
| Austin Schuh | 2a3e063 | 2018-02-19 16:24:49 -0800 | [diff] [blame] | 42 | visibility = ["//visibility:public"], |
| Austin Schuh | 7445586 | 2018-02-17 17:14:59 -0800 | [diff] [blame] | 43 | deps = [ |
| 44 | "//frc971/control_loops:runge_kutta", |
| 45 | "//third_party/eigen", |
| Austin Schuh | cb09171 | 2018-02-21 20:01:55 -0800 | [diff] [blame] | 46 | "//third_party/gflags", |
| Austin Schuh | 7445586 | 2018-02-17 17:14:59 -0800 | [diff] [blame] | 47 | ], |
| 48 | ) |
| 49 | |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame] | 50 | cc_library( |
| 51 | name = "demo_path", |
| 52 | srcs = [ |
| 53 | "demo_path.cc", |
| 54 | ], |
| 55 | hdrs = ["demo_path.h"], |
| 56 | deps = [":trajectory"], |
| 57 | ) |
| 58 | |
| Austin Schuh | 7445586 | 2018-02-17 17:14:59 -0800 | [diff] [blame] | 59 | cc_test( |
| 60 | name = "dynamics_test", |
| 61 | srcs = [ |
| 62 | "dynamics_test.cc", |
| 63 | ], |
| 64 | deps = [ |
| 65 | ":dynamics", |
| 66 | "//aos/testing:googletest", |
| 67 | ], |
| 68 | ) |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame] | 69 | |
| 70 | cc_binary( |
| 71 | name = "trajectory_plot", |
| 72 | srcs = [ |
| 73 | "trajectory_plot.cc", |
| 74 | ], |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame] | 75 | restricted_to = ["//tools:k8"], |
| 76 | deps = [ |
| 77 | ":demo_path", |
| Austin Schuh | 54e5bb5 | 2018-02-19 01:09:18 -0800 | [diff] [blame] | 78 | ":ekf", |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame] | 79 | ":trajectory", |
| 80 | "//third_party/eigen", |
| Austin Schuh | cb09171 | 2018-02-21 20:01:55 -0800 | [diff] [blame] | 81 | "//third_party/gflags", |
| Austin Schuh | 0cf8348 | 2018-02-18 21:36:50 -0800 | [diff] [blame] | 82 | "//third_party/matplotlib-cpp", |
| 83 | ], |
| 84 | ) |
| Austin Schuh | 54e5bb5 | 2018-02-19 01:09:18 -0800 | [diff] [blame] | 85 | |
| 86 | cc_library( |
| 87 | name = "ekf", |
| 88 | srcs = [ |
| 89 | "ekf.cc", |
| 90 | ], |
| 91 | hdrs = [ |
| 92 | "ekf.h", |
| 93 | ], |
| Austin Schuh | 2a3e063 | 2018-02-19 16:24:49 -0800 | [diff] [blame] | 94 | visibility = ["//visibility:public"], |
| Austin Schuh | 54e5bb5 | 2018-02-19 01:09:18 -0800 | [diff] [blame] | 95 | deps = [ |
| 96 | ":dynamics", |
| 97 | "//frc971/control_loops:jacobian", |
| 98 | "//third_party/eigen", |
| 99 | ], |
| 100 | ) |
| Parker Schuh | be36c5b | 2018-02-19 01:06:50 -0800 | [diff] [blame] | 101 | |
| 102 | cc_library( |
| 103 | name = "graph", |
| 104 | srcs = ["graph.cc"], |
| 105 | hdrs = ["graph.h"], |
| 106 | ) |
| 107 | |
| 108 | cc_test( |
| 109 | name = "graph_test", |
| 110 | srcs = ["graph_test.cc"], |
| 111 | deps = [ |
| 112 | ":graph", |
| 113 | "//aos/testing:googletest", |
| 114 | ], |
| 115 | ) |
| Austin Schuh | cb09171 | 2018-02-21 20:01:55 -0800 | [diff] [blame] | 116 | |
| 117 | cc_library( |
| 118 | name = "arm", |
| 119 | srcs = [ |
| 120 | "arm.cc", |
| 121 | ], |
| 122 | hdrs = [ |
| 123 | "arm.h", |
| 124 | ], |
| 125 | visibility = ["//visibility:public"], |
| 126 | deps = [ |
| 127 | ":demo_path", |
| 128 | ":ekf", |
| 129 | ":graph", |
| 130 | ":trajectory", |
| 131 | "//aos/common/logging:queue_logging", |
| 132 | "//frc971/zeroing", |
| 133 | "//y2018:constants", |
| 134 | "//y2018/control_loops/superstructure:superstructure_queue", |
| 135 | ], |
| 136 | ) |