[wpimath] Add simulated annealing #5961
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The circular buffer changes are there to make the tests easier to write, and we've wanted a more generic circular buffer class for a while. That was a breaking change though to make it match how we organized the interpolating tree maps. The traveling salesman tests take 15 ms on my machine, which is rather slow given the size of the problem. I haven't looked into better convergence criteria. Part of the issue is you need to let the randomness stew a bit so the solver has a chance to reach a more optimal solution. |
wpimath/src/main/java/edu/wpi/first/math/optimization/SimulatedAnnealing.java
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wpimath/src/main/java/edu/wpi/first/math/optimization/SimulatedAnnealing.java
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wpimath/src/main/java/edu/wpi/first/math/path/TravelingSalesman.java
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wpimath/src/main/java/edu/wpi/first/math/path/TravelingSalesman.java
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wpimath/src/test/java/edu/wpi/first/math/path/TravelingSalesmanTest.java
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wpiutil/src/test/java/edu/wpi/first/util/DoubleCircularBufferTest.java
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Depends on #5969. |
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Co-authored-by: Ashray._.g <ashray.gupta@gmail.com>
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PeterJohnson
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Co-authored-by: Ashray._.g <ashray.gupta@gmail.com>
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Co-authored-by: Ashray._.g ashray.gupta@gmail.com