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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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49
wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp
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@@ -80,19 +80,22 @@ TEST_F(MecanumDriveOdometryTest, GyroAngleReset) {
TEST_F(MecanumDriveOdometryTest, AccuracyFacingTrajectory) {
wpi::math::MecanumDriveKinematics kinematics{
wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
wpi::math::Translation2d{-1_m, -1_m},
wpi::math::Translation2d{-1_m, 1_m}};
wpi::math::MecanumDriveWheelPositions wheelPositions;
wpi::math::MecanumDriveOdometry odometry{kinematics, wpi::math::Rotation2d{},
wheelPositions};
wheelPositions};
wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
wpi::math::Pose2d{0_m, 0_m, 135_deg},
wpi::math::Pose2d{-3_m, 0_m, -90_deg},
wpi::math::Pose2d{0_m, 0_m, 45_deg}},
wpi::math::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
wpi::math::Trajectory trajectory =
wpi::math::TrajectoryGenerator::GenerateTrajectory(
std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg},
wpi::math::Pose2d{3_m, 0_m, -90_deg},
wpi::math::Pose2d{0_m, 0_m, 135_deg},
wpi::math::Pose2d{-3_m, 0_m, -90_deg},
wpi::math::Pose2d{0_m, 0_m, 45_deg}},
wpi::math::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
std::default_random_engine generator;
std::normal_distribution<double> distribution(0.0, 1.0);
@@ -120,10 +123,10 @@ TEST_F(MecanumDriveOdometryTest, AccuracyFacingTrajectory) {
wheelPositions.rearLeft += wheelSpeeds.rearLeft * dt;
wheelPositions.rearRight += wheelSpeeds.rearRight * dt;
auto xhat =
odometry.Update(groundTruthState.pose.Rotation() +
wpi::math::Rotation2d{distribution(generator) * 0.05_rad},
wheelPositions);
auto xhat = odometry.Update(
groundTruthState.pose.Rotation() +
wpi::math::Rotation2d{distribution(generator) * 0.05_rad},
wheelPositions);
double error = groundTruthState.pose.Translation()
.Distance(xhat.Translation())
.value();
@@ -143,19 +146,22 @@ TEST_F(MecanumDriveOdometryTest, AccuracyFacingTrajectory) {
TEST_F(MecanumDriveOdometryTest, AccuracyFacingXAxis) {
wpi::math::MecanumDriveKinematics kinematics{
wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
wpi::math::Translation2d{-1_m, -1_m},
wpi::math::Translation2d{-1_m, 1_m}};
wpi::math::MecanumDriveWheelPositions wheelPositions;
wpi::math::MecanumDriveOdometry odometry{kinematics, wpi::math::Rotation2d{},
wheelPositions};
wheelPositions};
wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
wpi::math::Pose2d{0_m, 0_m, 135_deg},
wpi::math::Pose2d{-3_m, 0_m, -90_deg},
wpi::math::Pose2d{0_m, 0_m, 45_deg}},
wpi::math::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
wpi::math::Trajectory trajectory =
wpi::math::TrajectoryGenerator::GenerateTrajectory(
std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg},
wpi::math::Pose2d{3_m, 0_m, -90_deg},
wpi::math::Pose2d{0_m, 0_m, 135_deg},
wpi::math::Pose2d{-3_m, 0_m, -90_deg},
wpi::math::Pose2d{0_m, 0_m, 45_deg}},
wpi::math::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
std::default_random_engine generator;
std::normal_distribution<double> distribution(0.0, 1.0);
@@ -185,7 +191,8 @@ TEST_F(MecanumDriveOdometryTest, AccuracyFacingXAxis) {
wheelPositions.rearRight += wheelSpeeds.rearRight * dt;
auto xhat = odometry.Update(
wpi::math::Rotation2d{distribution(generator) * 0.05_rad}, wheelPositions);
wpi::math::Rotation2d{distribution(generator) * 0.05_rad},
wheelPositions);
double error = groundTruthState.pose.Translation()
.Distance(xhat.Translation())
.value();