Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-05 03:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

SCRIPT: wpiformat

Browse Source
This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp
View File

@@ -14,12 +14,13 @@
static constexpr wpi::units::meter_t kTolerance{1 / 12.0};
static constexpr wpi::units::radian_t kAngularTolerance{2.0 * std::numbers::pi /
180.0};
180.0};
TEST(LTVUnicycleControllerTest, ReachesReference) {
constexpr wpi::units::second_t kDt = 20_ms;
wpi::math::LTVUnicycleController controller{{0.0625, 0.125, 2.5}, {4.0, 4.0}, kDt};
wpi::math::LTVUnicycleController controller{
{0.0625, 0.125, 2.5}, {4.0, 4.0}, kDt};
wpi::math::Pose2d robotPose{2.7_m, 23_m, 0_deg};
auto waypoints = std::vector{wpi::math::Pose2d{2.75_m, 22.521_m, 0_rad},
@@ -33,13 +34,14 @@ TEST(LTVUnicycleControllerTest, ReachesReference) {
auto [vx, vy, omega] = controller.Calculate(robotPose, state);
static_cast<void>(vy);
robotPose = robotPose + wpi::math::Twist2d{vx * kDt, 0_m, omega * kDt}.Exp();
robotPose =
robotPose + wpi::math::Twist2d{vx * kDt, 0_m, omega * kDt}.Exp();
}
auto& endPose = trajectory.States().back().pose;
EXPECT_NEAR_UNITS(endPose.X(), robotPose.X(), kTolerance);
EXPECT_NEAR_UNITS(endPose.Y(), robotPose.Y(), kTolerance);
EXPECT_NEAR_UNITS(wpi::math::AngleModulus(endPose.Rotation().Radians() -
robotPose.Rotation().Radians()),
robotPose.Rotation().Radians()),
0_rad, kAngularTolerance);
}