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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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4
wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp
View File

@@ -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
View File

@@ -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; },