Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Add InterpolatedTreeMap (#4073)

Browse Source 
- Add InterpolatedTreeMap for Java from team 254's 2016 MIT licensed code
- Add InterpolatedMap for C++ from team 3512's code with @calcmogul (original author) permission

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Ashray._.g
2022-03-19 20:46:42 -07:00
committed by GitHub
parent 765efa325e
commit 0d70884dce
4 changed files with 369 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

134
wpiutil/src/test/java/edu/wpi/first/util/InterpolatingTreeMapTest.java Normal file
View File

@@ -0,0 +1,134 @@
// 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.
package edu.wpi.first.util;
import static org.junit.jupiter.api.Assertions.assertEquals;
import org.junit.jupiter.api.Test;
class InterpolatingTreeMapTest {
@Test
void testInterpolationDouble() {
InterpolatingTreeMap<Double, Double> table = new InterpolatingTreeMap<>();
table.put(125.0, 450.0);
table.put(200.0, 510.0);
table.put(268.0, 525.0);
table.put(312.0, 550.0);
table.put(326.0, 650.0);
// Key below minimum gives smallest value
assertEquals(450.0, table.get(100.0));
// Minimum key gives exact value
assertEquals(450.0, table.get(125.0));
// Key gives interpolated value
assertEquals(480.0, table.get(162.5));
// Key at right of interpolation range gives exact value
assertEquals(510.0, table.get(200.0));
// Maximum key gives exact value
assertEquals(650.0, table.get(326.0));
// Key above maximum gives largest value
assertEquals(650.0, table.get(400.0));
}
@Test
void testInterpolationClear() {
InterpolatingTreeMap<Double, Double> table = new InterpolatingTreeMap<>();
table.put(125.0, 450.0);
table.put(200.0, 510.0);
table.put(268.0, 525.0);
table.put(312.0, 550.0);
table.put(326.0, 650.0);
// Key below minimum gives smallest value
assertEquals(450.0, table.get(100.0));
// Minimum key gives exact value
assertEquals(450.0, table.get(125.0));
// Key gives interpolated value
assertEquals(480.0, table.get(162.5));
// Key at right of interpolation range gives exact value
assertEquals(510.0, table.get(200.0));
// Maximum key gives exact value
assertEquals(650.0, table.get(326.0));
// Key above maximum gives largest value
assertEquals(650.0, table.get(400.0));
table.clear();
table.put(100.0, 250.0);
table.put(200.0, 500.0);
assertEquals(375.0, table.get(150.0));
}
@Test
void testInterpolationInteger() {
InterpolatingTreeMap<Integer, Integer> table = new InterpolatingTreeMap<>();
table.put(125, 450);
table.put(200, 510);
table.put(268, 525);
table.put(312, 550);
table.put(326, 650);
// Key below minimum gives smallest value
assertEquals(450.0, table.get(100));
// Minimum key gives exact value
assertEquals(450.0, table.get(125));
// Key gives interpolated value
assertEquals(479.6, table.get(162));
// Key at right of interpolation range gives exact value
assertEquals(510.0, table.get(200));
// Maximum key gives exact value
assertEquals(650.0, table.get(326));
// Key above maximum gives largest value
assertEquals(650.0, table.get(400));
}
@Test
void testInterpolationLong() {
InterpolatingTreeMap<Long, Long> table = new InterpolatingTreeMap<>();
table.put(125L, 450L);
table.put(200L, 510L);
table.put(268L, 525L);
table.put(312L, 550L);
table.put(326L, 650L);
// Key below minimum gives smallest value
assertEquals(450.0, table.get(100L));
// Minimum key gives exact value
assertEquals(450.0, table.get(125L));
// Key gives interpolated value
assertEquals(479.6, table.get(162L));
// Key at right of interpolation range gives exact value
assertEquals(510.0, table.get(200L));
// Maximum key gives exact value
assertEquals(650.0, table.get(326L));
// Key above maximum gives largest value
assertEquals(650.0, table.get(400L));
}
}