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[wpimath] Remove RamseteController and RamseteCommand (#7522)

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This commit is contained in:
Tyler Veness
2024-12-07 23:38:35 -08:00
committed by GitHub
parent ae44295024
commit 220f4e1ba4
14 changed files with 8 additions and 996 deletions
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62
wpimath/src/test/java/edu/wpi/first/math/controller/RamseteControllerTest.java
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@@ -1,62 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.math.controller;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Twist2d;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import java.util.ArrayList;
import org.junit.jupiter.api.Test;
class RamseteControllerTest {
private static final double kTolerance = 1 / 12.0;
private static final double kAngularTolerance = Math.toRadians(2);
@SuppressWarnings("removal")
@Test
void testReachesReference() {
final var controller = new RamseteController(2.0, 0.7);
var robotPose = new Pose2d(2.7, 23.0, Rotation2d.kZero);
final var waypoints = new ArrayList<Pose2d>();
waypoints.add(new Pose2d(2.75, 22.521, Rotation2d.kZero));
waypoints.add(new Pose2d(24.73, 19.68, new Rotation2d(5.846)));
var config = new TrajectoryConfig(8.8, 0.1);
final var trajectory = TrajectoryGenerator.generateTrajectory(waypoints, config);
final double kDt = 0.02;
final var totalTime = trajectory.getTotalTimeSeconds();
for (int i = 0; i < (totalTime / kDt); ++i) {
var state = trajectory.sample(kDt * i);
var output = controller.calculate(robotPose, state);
robotPose =
robotPose.exp(
new Twist2d(output.vxMetersPerSecond * kDt, 0, output.omegaRadiansPerSecond * kDt));
}
final var states = trajectory.getStates();
final var endPose = states.get(states.size() - 1).poseMeters;
// Java lambdas require local variables referenced from a lambda expression
// must be final or effectively final.
final var finalRobotPose = robotPose;
assertAll(
() -> assertEquals(endPose.getX(), finalRobotPose.getX(), kTolerance),
() -> assertEquals(endPose.getY(), finalRobotPose.getY(), kTolerance),
() ->
assertEquals(
0.0,
MathUtil.angleModulus(
endPose.getRotation().getRadians() - finalRobotPose.getRotation().getRadians()),
kAngularTolerance));
}
}

50
wpimath/src/test/native/cpp/controller/RamseteControllerTest.cpp
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@@ -1,50 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <gtest/gtest.h>
#include <wpi/deprecated.h>
#include "frc/MathUtil.h"
#include "frc/controller/RamseteController.h"
#include "frc/trajectory/TrajectoryGenerator.h"
#include "units/math.h"
#define EXPECT_NEAR_UNITS(val1, val2, eps) \
EXPECT_LE(units::math::abs(val1 - val2), eps)
static constexpr units::meter_t kTolerance{1 / 12.0};
static constexpr units::radian_t kAngularTolerance{2.0 * std::numbers::pi /
180.0};
WPI_IGNORE_DEPRECATED
TEST(RamseteControllerTest, ReachesReference) {
frc::RamseteController controller{2.0 * 1_rad * 1_rad / (1_m * 1_m),
0.7 / 1_rad};
frc::Pose2d robotPose{2.7_m, 23_m, 0_deg};
auto waypoints = std::vector{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
frc::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
waypoints, {8.8_mps, 0.1_mps_sq});
constexpr units::second_t kDt = 20_ms;
auto totalTime = trajectory.TotalTime();
for (size_t i = 0; i < (totalTime / kDt).value(); ++i) {
auto state = trajectory.Sample(kDt * i);
auto [vx, vy, omega] = controller.Calculate(robotPose, state);
static_cast<void>(vy);
robotPose = robotPose.Exp(frc::Twist2d{vx * kDt, 0_m, omega * kDt});
}
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(frc::AngleModulus(endPose.Rotation().Radians() -
robotPose.Rotation().Radians()),
0_rad, kAngularTolerance);
}
WPI_UNIGNORE_DEPRECATED