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https://github.com/wpilibsuite/allwpilib
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21 lines
977 B
C++
21 lines
977 B
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 "frc/kinematics/ChassisSpeeds.h"
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#include "gtest/gtest.h"
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static constexpr double kEpsilon = 1E-9;
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TEST(ChassisSpeeds, FieldRelativeConstruction) {
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const auto chassisSpeeds = frc::ChassisSpeeds::FromFieldRelativeSpeeds(
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1.0_mps, 0.0_mps, 0.5_rad_per_s, frc::Rotation2d(-90.0_deg));
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EXPECT_NEAR(0.0, chassisSpeeds.vx.to<double>(), kEpsilon);
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EXPECT_NEAR(1.0, chassisSpeeds.vy.to<double>(), kEpsilon);
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EXPECT_NEAR(0.5, chassisSpeeds.omega.to<double>(), kEpsilon);
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}
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