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[wpimath] Add remaining struct and protobuf implementations (#5953)

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This commit is contained in:
Joseph Eng
2024-07-29 07:55:44 -07:00
committed by GitHub
parent 3e1e3fb4ca
commit 073192d513
112 changed files with 3989 additions and 45 deletions
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wpimath/src/test/native/cpp/controller/proto/DifferentialDriveFeedforwardProtoTest.cpp Normal file
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// 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 <gtest/gtest.h>
#include "../../ProtoTestBase.h"
#include "frc/controller/DifferentialDriveFeedforward.h"
using namespace frc;
struct DifferentialDriveFeedforwardProtoTestData {
using Type = DifferentialDriveFeedforward;
inline static const Type kTestData{
decltype(1_V / 1_mps){0.174}, decltype(1_V / 1_mps_sq){0.229},
decltype(1_V / 1_mps){4.4}, decltype(1_V / 1_mps_sq){4.5}};
static void CheckEq(const Type& testData, const Type& data) {
EXPECT_EQ(testData.m_kVLinear.value(), data.m_kVLinear.value());
EXPECT_EQ(testData.m_kALinear.value(), data.m_kALinear.value());
EXPECT_EQ(testData.m_kVAngular.value(), data.m_kVAngular.value());
EXPECT_EQ(testData.m_kAAngular.value(), data.m_kAAngular.value());
}
};
INSTANTIATE_TYPED_TEST_SUITE_P(DifferentialDriveFeedforward, ProtoTest,
DifferentialDriveFeedforwardProtoTestData);