wpilibsuite/allwpilib

Matrix.pseudoInverse()?

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#9,212 opened on Aug 2, 2026

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component: wpimathgood first issuetype: feature

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Description

A few times, I've written

new Matrix<>(m.getStorage().pseudoInverse())

which makes me wonder why the WPI Matrix wrapper doesn't include it?

Contributor guide

Research direction
Inspect the Matrix class in the WPILibJ source code, locate the pseudoInverse method in the storage class, and understand the wrapper pattern for adding methods. Implement the pseudoInverse method in the Matrix wrapper and add tests.
Tech stack
java
Domain
api
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
GitJava
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
75