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[wpimath] Fix dt type in C++ tests (#8179)

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The UKF test was calling `.value()` on an implicit
`units::millisecond_t` type assuming it was `units::second_t`.

I normalized the rest of the dt declarations while I was at it.
This commit is contained in:
Tyler Veness
2025-08-16 22:51:13 -07:00
committed by GitHub
parent 46a3318324
commit 0d9e850e22
11 changed files with 32 additions and 32 deletions
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6
wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
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@@ -12,7 +12,7 @@ namespace frc {
TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
constexpr auto trackwidth = 0.9_m;
constexpr auto dt = 5_ms;
constexpr units::second_t dt = 5_ms;
constexpr auto maxA = 2_mps_sq;
constexpr auto maxAlpha = 2_rad_per_s_sq;
@@ -105,7 +105,7 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
constexpr auto trackwidth = 0.9_m;
constexpr auto dt = 5_ms;
constexpr units::second_t dt = 5_ms;
using Kv_t = decltype(1_V / 1_mps);
using Ka_t = decltype(1_V / 1_mps_sq);
@@ -173,7 +173,7 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
TEST(DifferentialDriveAccelerationLimiterTest, SeparateMinMaxLowLimits) {
constexpr auto trackwidth = 0.9_m;
constexpr auto dt = 5_ms;
constexpr units::second_t dt = 5_ms;
constexpr auto minA = -1_mps_sq;
constexpr auto maxA = 2_mps_sq;
constexpr auto maxAlpha = 2_rad_per_s_sq;

4
wpimath/src/test/native/cpp/controller/DifferentialDriveFeedforwardTest.cpp
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@@ -20,7 +20,7 @@ TEST(DifferentialDriveFeedforwardTest, CalculateWithTrackwidth) {
constexpr auto kVAngular = 1_V / 1_rad_per_s;
constexpr auto kAAngular = 1_V / 1_rad_per_s_sq;
constexpr auto trackwidth = 1_m;
constexpr auto dt = 20_ms;
constexpr units::second_t dt = 20_ms;
frc::DifferentialDriveFeedforward differentialDriveFeedforward{
kVLinear, kALinear, kVAngular, kAAngular, trackwidth};
@@ -54,7 +54,7 @@ TEST(DifferentialDriveFeedforwardTest, CalculateWithoutTrackwidth) {
constexpr auto kALinear = 1_V / 1_mps_sq;
constexpr auto kVAngular = 1_V / 1_mps;
constexpr auto kAAngular = 1_V / 1_mps_sq;
constexpr auto dt = 20_ms;
constexpr units::second_t dt = 20_ms;
frc::DifferentialDriveFeedforward differentialDriveFeedforward{
kVLinear, kALinear, kVAngular, kAAngular};

4
wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp
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@@ -10,7 +10,7 @@
namespace frc {
TEST(ImplicitModelFollowerTest, SameModel) {
constexpr auto dt = 5_ms;
constexpr units::second_t dt = 5_ms;
using Kv_t = decltype(1_V / 1_mps);
using Ka_t = decltype(1_V / 1_mps_sq);
@@ -54,7 +54,7 @@ TEST(ImplicitModelFollowerTest, SameModel) {
}
TEST(ImplicitModelFollowerTest, SlowerRefModel) {
constexpr auto dt = 5_ms;
constexpr units::second_t dt = 5_ms;
using Kv_t = decltype(1_V / 1_mps);
using Ka_t = decltype(1_V / 1_mps_sq);

12
wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
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@@ -31,10 +31,10 @@ TEST(LinearQuadraticRegulatorTest, ElevatorGains) {
return frc::LinearSystemId::ElevatorSystem(motors, m, r, G).Slice(0);
}();
Matrixd<1, 2> K =
LinearQuadraticRegulator<2, 1>{plant, {0.02, 0.4}, {12.0}, 5.05_ms}.K();
LinearQuadraticRegulator<2, 1>{plant, {0.02, 0.4}, {12.0}, 5_ms}.K();
EXPECT_NEAR(522.15314269, K(0, 0), 1e-6);
EXPECT_NEAR(38.20138596, K(0, 1), 1e-6);
EXPECT_NEAR(522.87006795347486, K(0, 0), 1e-6);
EXPECT_NEAR(38.239878385020411, K(0, 1), 1e-6);
}
TEST(LinearQuadraticRegulatorTest, ArmGains) {
@@ -56,11 +56,11 @@ TEST(LinearQuadraticRegulatorTest, ArmGains) {
}();
Matrixd<1, 2> K =
LinearQuadraticRegulator<2, 1>{plant, {0.01745, 0.08726}, {12.0}, 5.05_ms}
LinearQuadraticRegulator<2, 1>{plant, {0.01745, 0.08726}, {12.0}, 5_ms}
.K();
EXPECT_NEAR(19.16, K(0, 0), 1e-1);
EXPECT_NEAR(3.32, K(0, 1), 1e-1);
EXPECT_NEAR(19.339349883583761, K(0, 0), 1e-6);
EXPECT_NEAR(3.3542559517421582, K(0, 1), 1e-6);
}
TEST(LinearQuadraticRegulatorTest, FourMotorElevator) {

4
wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp
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@@ -61,7 +61,7 @@ frc::Vectord<5> GlobalMeasurementModel(
} // namespace
TEST(ExtendedKalmanFilterTest, Init) {
constexpr auto dt = 0.00505_s;
constexpr units::second_t dt = 5_ms;
frc::ExtendedKalmanFilter<5, 2, 3> observer{Dynamics,
LocalMeasurementModel,
@@ -80,7 +80,7 @@ TEST(ExtendedKalmanFilterTest, Init) {
}
TEST(ExtendedKalmanFilterTest, Convergence) {
constexpr auto dt = 0.00505_s;
constexpr units::second_t dt = 5_ms;
constexpr auto rb = 0.8382_m / 2.0; // Robot radius
frc::ExtendedKalmanFilter<5, 2, 3> observer{Dynamics,

6
wpimath/src/test/native/cpp/estimator/UnscentedKalmanFilterTest.cpp
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@@ -68,7 +68,7 @@ frc::Vectord<5> DriveGlobalMeasurementModel(
}
TEST(UnscentedKalmanFilterTest, DriveInit) {
constexpr auto dt = 5_ms;
constexpr units::second_t dt = 5_ms;
frc::UnscentedKalmanFilter<5, 2, 3> observer{DriveDynamics,
DriveLocalMeasurementModel,
@@ -94,7 +94,7 @@ TEST(UnscentedKalmanFilterTest, DriveInit) {
}
TEST(UnscentedKalmanFilterTest, DriveConvergence) {
constexpr auto dt = 5_ms;
constexpr units::second_t dt = 5_ms;
constexpr auto rb = 0.8382_m / 2.0; // Robot radius
frc::UnscentedKalmanFilter<5, 2, 3> observer{DriveDynamics,
@@ -206,7 +206,7 @@ TEST(UnscentedKalmanFilterTest, LinearUKF) {
}
TEST(UnscentedKalmanFilterTest, RoundTripP) {
constexpr auto dt = 5_ms;
constexpr units::second_t dt = 5_ms;
frc::UnscentedKalmanFilter<2, 2, 2> observer{
[](const frc::Vectord<2>& x, const frc::Vectord<2>& u) { return x; },

4
wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
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@@ -56,7 +56,7 @@ TEST(DiscretizationTest, DiscretizeSlowModelAQ) {
frc::Matrixd<2, 2> contA{{0, 1}, {0, 0}};
frc::Matrixd<2, 2> contQ{{1, 0}, {0, 1}};
constexpr auto dt = 1_s;
constexpr units::second_t dt = 1_s;
// T
// Q_d ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
@@ -88,7 +88,7 @@ TEST(DiscretizationTest, DiscretizeFastModelAQ) {
frc::Matrixd<2, 2> contA{{0, 1}, {0, -1406.29}};
frc::Matrixd<2, 2> contQ{{0.0025, 0}, {0, 1}};
constexpr auto dt = 5_ms;
constexpr units::second_t dt = 5_ms;
// T
// Q_d = ∫ e^(Aτ) Q e^(Aᵀτ) dτ