allwpilib/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include <numbers>

#include <gtest/gtest.h>

#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
#include "wpi/math/kinematics/DifferentialDriveOdometry.hpp"

static constexpr double kEpsilon = 1E-9;

using namespace frc;

TEST(DifferentialDriveOdometryTest, EncoderDistances) {
  DifferentialDriveOdometry odometry{45_deg, 0_m, 0_m};

  const auto& pose =
      odometry.Update(135_deg, 0_m, units::meter_t{5 * std::numbers::pi});

  EXPECT_NEAR(pose.X().value(), 5.0, kEpsilon);
  EXPECT_NEAR(pose.Y().value(), 5.0, kEpsilon);
  EXPECT_NEAR(pose.Rotation().Degrees().value(), 90.0, kEpsilon);
}