mirror of
https://github.com/wpilibsuite/allwpilib
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58 lines
2.3 KiB
C++
58 lines
2.3 KiB
C++
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <wpi/math>
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#include "frc/controller/RamseteController.h"
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#include "frc/trajectory/TrajectoryGenerator.h"
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#include "gtest/gtest.h"
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#define EXPECT_NEAR_UNITS(val1, val2, eps) \
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EXPECT_LE(units::math::abs(val1 - val2), eps)
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static constexpr units::meter_t kTolerance{1 / 12.0};
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static constexpr units::radian_t kAngularTolerance{2.0 * wpi::math::pi / 180.0};
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units::radian_t boundRadians(units::radian_t value) {
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while (value > units::radian_t{wpi::math::pi}) {
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value -= units::radian_t{wpi::math::pi * 2};
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}
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while (value <= units::radian_t{-wpi::math::pi}) {
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value += units::radian_t{wpi::math::pi * 2};
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}
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return value;
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}
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TEST(RamseteControllerTest, ReachesReference) {
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frc::RamseteController controller{2.0, 0.7};
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frc::Pose2d robotPose{2.7_m, 23_m, frc::Rotation2d{0_deg}};
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auto waypoints = std::vector{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
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frc::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
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auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
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waypoints, {}, 0_mps, 0_mps, 8.8_mps, 0.1_mps_sq, false);
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constexpr auto kDt = 0.02_s;
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auto totalTime = trajectory.TotalTime();
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for (size_t i = 0; i < (totalTime / kDt).to<double>(); ++i) {
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auto state = trajectory.Sample(kDt * i);
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auto [vx, vy, omega] = controller.Calculate(robotPose, state);
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static_cast<void>(vy);
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robotPose = robotPose.Exp(frc::Twist2d{vx * kDt, 0_m, omega * kDt});
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}
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auto& endPose = trajectory.States().back().pose;
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EXPECT_NEAR_UNITS(endPose.Translation().X(), robotPose.Translation().X(),
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kTolerance);
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EXPECT_NEAR_UNITS(endPose.Translation().Y(), robotPose.Translation().Y(),
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kTolerance);
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EXPECT_NEAR_UNITS(boundRadians(endPose.Rotation().Radians() -
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robotPose.Rotation().Radians()),
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0_rad, kAngularTolerance);
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}
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