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[wpimath] ApplyDeadband: add a scale param (#3865)

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Also templates it in C++ so it can work with both doubles and units.
This commit is contained in:
Oblarg
2022-04-30 23:29:48 -04:00
committed by GitHub
parent 03230fc842
commit 09cf6eeecb
5 changed files with 176 additions and 39 deletions
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23
wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
View File

@@ -10,7 +10,7 @@ import org.junit.jupiter.api.Test;
class MathUtilTest {
@Test
void testApplyDeadband() {
void testApplyDeadbandUnityScale() {
// < 0
assertEquals(-1.0, MathUtil.applyDeadband(-1.0, 0.02));
assertEquals((-0.03 + 0.02) / (1.0 - 0.02), MathUtil.applyDeadband(-0.03, 0.02));
@@ -27,6 +27,27 @@ class MathUtilTest {
assertEquals(1.0, MathUtil.applyDeadband(1.0, 0.02));
}
@Test
void testApplyDeadbandArbitraryScale() {
// < 0
assertEquals(-2.5, MathUtil.applyDeadband(-2.5, 0.02, 2.5));
assertEquals(0.0, MathUtil.applyDeadband(-0.02, 0.02, 2.5));
assertEquals(0.0, MathUtil.applyDeadband(-0.01, 0.02, 2.5));
// == 0
assertEquals(0.0, MathUtil.applyDeadband(0.0, 0.02, 2.5));
// > 0
assertEquals(0.0, MathUtil.applyDeadband(0.01, 0.02, 2.5));
assertEquals(0.0, MathUtil.applyDeadband(0.02, 0.02, 2.5));
assertEquals(2.5, MathUtil.applyDeadband(2.5, 0.02, 2.5));
}
@Test
void testApplyDeadbandLargeMaxMagnitude() {
assertEquals(80.0, MathUtil.applyDeadband(100.0, 20, Double.POSITIVE_INFINITY));
}
@Test
void testInputModulus() {
// These tests check error wrapping. That is, the result of wrapping the

31
wpimath/src/test/native/cpp/MathUtilTest.cpp
View File

@@ -2,6 +2,8 @@
// 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 <limits>
#include "frc/MathUtil.h"
#include "gtest/gtest.h"
#include "units/angle.h"
@@ -10,7 +12,7 @@
#define EXPECT_UNITS_NEAR(a, b, c) EXPECT_NEAR((a).value(), (b).value(), c)
TEST(MathUtilTest, ApplyDeadband) {
TEST(MathUtilTest, ApplyDeadbandUnityScale) {
// < 0
EXPECT_DOUBLE_EQ(-1.0, frc::ApplyDeadband(-1.0, 0.02));
EXPECT_DOUBLE_EQ((-0.03 + 0.02) / (1.0 - 0.02),
@@ -29,6 +31,33 @@ TEST(MathUtilTest, ApplyDeadband) {
EXPECT_DOUBLE_EQ(1.0, frc::ApplyDeadband(1.0, 0.02));
}
TEST(MathUtilTest, ApplyDeadbandArbitraryScale) {
// < 0
EXPECT_DOUBLE_EQ(-2.5, frc::ApplyDeadband(-2.5, 0.02, 2.5));
EXPECT_DOUBLE_EQ(0.0, frc::ApplyDeadband(-0.02, 0.02, 2.5));
EXPECT_DOUBLE_EQ(0.0, frc::ApplyDeadband(-0.01, 0.02, 2.5));
// == 0
EXPECT_DOUBLE_EQ(0.0, frc::ApplyDeadband(0.0, 0.02, 2.5));
// > 0
EXPECT_DOUBLE_EQ(0.0, frc::ApplyDeadband(0.01, 0.02, 2.5));
EXPECT_DOUBLE_EQ(0.0, frc::ApplyDeadband(0.02, 0.02, 2.5));
EXPECT_DOUBLE_EQ(2.5, frc::ApplyDeadband(2.5, 0.02, 2.5));
}
TEST(MathUtilTest, ApplyDeadbandUnits) {
// < 0
EXPECT_DOUBLE_EQ(
-20, frc::ApplyDeadband<units::radian_t>(-20_rad, 1_rad, 20_rad).value());
}
TEST(MathUtilTest, ApplyDeadbandLargeMaxMagnitude) {
EXPECT_DOUBLE_EQ(
80.0,
frc::ApplyDeadband(100.0, 20.0, std::numeric_limits<double>::infinity()));
}
TEST(MathUtilTest, InputModulus) {
// These tests check error wrapping. That is, the result of wrapping the
// result of an angle reference minus the measurement.