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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
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12
wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometry3dTest.cpp
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@@ -16,7 +16,8 @@ using namespace wpi::math;
TEST(DifferentialDriveOdometry3dTest, Initialize) {
DifferentialDriveOdometry3d odometry{
wpi::math::Rotation3d{0_deg, 0_deg, 90_deg}, 0_m, 0_m,
wpi::math::Pose3d{1_m, 2_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 45_deg}}};
wpi::math::Pose3d{1_m, 2_m, 0_m,
wpi::math::Rotation3d{0_deg, 0_deg, 45_deg}}};
const wpi::math::Pose3d& pose = odometry.GetPose();
@@ -27,11 +28,12 @@ TEST(DifferentialDriveOdometry3dTest, Initialize) {
}
TEST(DifferentialDriveOdometry3dTest, EncoderDistances) {
DifferentialDriveOdometry3d odometry{wpi::math::Rotation3d{0_deg, 0_deg, 45_deg},
0_m, 0_m};
DifferentialDriveOdometry3d odometry{
wpi::math::Rotation3d{0_deg, 0_deg, 45_deg}, 0_m, 0_m};
const auto& pose = odometry.Update(wpi::math::Rotation3d{0_deg, 0_deg, 135_deg},
0_m, wpi::units::meter_t{5 * std::numbers::pi});
const auto& pose =
odometry.Update(wpi::math::Rotation3d{0_deg, 0_deg, 135_deg}, 0_m,
wpi::units::meter_t{5 * std::numbers::pi});
EXPECT_NEAR(pose.X().value(), 5.0, kEpsilon);
EXPECT_NEAR(pose.Y().value(), 5.0, kEpsilon);