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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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71
wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
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@@ -27,8 +27,8 @@ static constexpr auto kDt = 10_ms;
}
TEST(TrapezoidProfileTest, ReachesGoal) {
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{1.75_mps,
0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{
1.75_mps, 0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{3_m, 0_mps};
wpi::math::TrapezoidProfile<wpi::units::meter>::State state;
@@ -42,8 +42,8 @@ TEST(TrapezoidProfileTest, ReachesGoal) {
// Tests that decreasing the maximum velocity in the middle when it is already
// moving faster than the new max is handled correctly
TEST(TrapezoidProfileTest, PosContinuousUnderVelChange) {
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{1.75_mps,
0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{
1.75_mps, 0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{12_m, 0_mps};
wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
@@ -76,8 +76,8 @@ TEST(TrapezoidProfileTest, PosContinuousUnderVelChange) {
// There is some somewhat tricky code for dealing with going backwards
TEST(TrapezoidProfileTest, Backwards) {
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{
0.75_mps, 0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{-2_m, 0_mps};
wpi::math::TrapezoidProfile<wpi::units::meter>::State state;
@@ -89,8 +89,8 @@ TEST(TrapezoidProfileTest, Backwards) {
}
TEST(TrapezoidProfileTest, SwitchGoalInMiddle) {
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{
0.75_mps, 0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{-2_m, 0_mps};
wpi::math::TrapezoidProfile<wpi::units::meter>::State state;
@@ -110,8 +110,8 @@ TEST(TrapezoidProfileTest, SwitchGoalInMiddle) {
// Checks to make sure that it hits top speed
TEST(TrapezoidProfileTest, TopSpeed) {
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{
0.75_mps, 0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{4_m, 0_mps};
wpi::math::TrapezoidProfile<wpi::units::meter>::State state;
@@ -129,8 +129,8 @@ TEST(TrapezoidProfileTest, TopSpeed) {
}
TEST(TrapezoidProfileTest, TimingToCurrent) {
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{
0.75_mps, 0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{2_m, 0_mps};
wpi::math::TrapezoidProfile<wpi::units::meter>::State state;
@@ -144,13 +144,13 @@ TEST(TrapezoidProfileTest, TimingToCurrent) {
TEST(TrapezoidProfileTest, TimingToGoal) {
using wpi::units::unit_cast;
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{
0.75_mps, 0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{2_m, 0_mps};
wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
auto state = profile.Calculate(kDt, goal,
wpi::math::TrapezoidProfile<wpi::units::meter>::State{});
auto state = profile.Calculate(
kDt, goal, wpi::math::TrapezoidProfile<wpi::units::meter>::State{});
auto predictedTimeLeft = profile.TimeLeftUntil(goal.position);
bool reachedGoal = false;
@@ -168,13 +168,13 @@ TEST(TrapezoidProfileTest, TimingToGoal) {
TEST(TrapezoidProfileTest, TimingBeforeGoal) {
using wpi::units::unit_cast;
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{
0.75_mps, 0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{2_m, 0_mps};
wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
auto state = profile.Calculate(kDt, goal,
wpi::math::TrapezoidProfile<wpi::units::meter>::State{});
auto state = profile.Calculate(
kDt, goal, wpi::math::TrapezoidProfile<wpi::units::meter>::State{});
auto predictedTimeLeft = profile.TimeLeftUntil(1_m);
bool reachedGoal = false;
@@ -191,13 +191,13 @@ TEST(TrapezoidProfileTest, TimingBeforeGoal) {
TEST(TrapezoidProfileTest, TimingToNegativeGoal) {
using wpi::units::unit_cast;
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{
0.75_mps, 0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{-2_m, 0_mps};
wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
auto state = profile.Calculate(kDt, goal,
wpi::math::TrapezoidProfile<wpi::units::meter>::State{});
auto state = profile.Calculate(
kDt, goal, wpi::math::TrapezoidProfile<wpi::units::meter>::State{});
auto predictedTimeLeft = profile.TimeLeftUntil(goal.position);
bool reachedGoal = false;
@@ -215,13 +215,13 @@ TEST(TrapezoidProfileTest, TimingToNegativeGoal) {
TEST(TrapezoidProfileTest, TimingBeforeNegativeGoal) {
using wpi::units::unit_cast;
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{
0.75_mps, 0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{-2_m, 0_mps};
wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
auto state = profile.Calculate(kDt, goal,
wpi::math::TrapezoidProfile<wpi::units::meter>::State{});
auto state = profile.Calculate(
kDt, goal, wpi::math::TrapezoidProfile<wpi::units::meter>::State{});
auto predictedTimeLeft = profile.TimeLeftUntil(-1_m);
bool reachedGoal = false;
@@ -236,15 +236,16 @@ TEST(TrapezoidProfileTest, TimingBeforeNegativeGoal) {
}
TEST(TrapezoidProfileTest, InitalizationOfCurrentState) {
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{1_mps, 1_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{
1_mps, 1_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
EXPECT_NEAR_UNITS(profile.TimeLeftUntil(0_m), 0_s, 1e-10_s);
EXPECT_NEAR_UNITS(profile.TotalTime(), 0_s, 1e-10_s);
}
TEST(TrapezoidProfileTest, InitialVelocityConstraints) {
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{
0.75_mps, 0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{10_m, 0_mps};
wpi::math::TrapezoidProfile<wpi::units::meter>::State state{0_m, -10_mps};
@@ -258,8 +259,8 @@ TEST(TrapezoidProfileTest, InitialVelocityConstraints) {
}
TEST(TrapezoidProfileTest, GoalVelocityConstraints) {
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{
0.75_mps, 0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{10_m, 5_mps};
wpi::math::TrapezoidProfile<wpi::units::meter>::State state{0_m, 0.75_mps};
@@ -273,8 +274,8 @@ TEST(TrapezoidProfileTest, GoalVelocityConstraints) {
}
TEST(TrapezoidProfileTest, NegativeGoalVelocityConstraints) {
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{
0.75_mps, 0.75_mps_sq};
wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{10_m, -5_mps};
wpi::math::TrapezoidProfile<wpi::units::meter>::State state{0_m, 0.75_mps};