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[wpimath] Fix TimeInterpolatableBuffer crash (#5972)

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Don't decrement buffer iterator if it's at the beginning of the
container.
This commit is contained in:
Tyler Veness
2023-11-30 23:18:38 -08:00
committed by GitHub
parent 5cc923de33
commit 30816111db
3 changed files with 69 additions and 28 deletions
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43
wpimath/src/test/java/edu/wpi/first/math/interpolation/TimeInterpolatableBufferTest.java
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@@ -11,20 +11,41 @@ import edu.wpi.first.math.geometry.Rotation2d;
import org.junit.jupiter.api.Test;
class TimeInterpolatableBufferTest {
@Test
void testAddSample() {
TimeInterpolatableBuffer<Rotation2d> buffer = TimeInterpolatableBuffer.createBuffer(10);
// No entries
buffer.addSample(1.0, new Rotation2d());
assertEquals(0.0, buffer.getSample(1.0).get().getRadians(), 0.001);
// New entry at start of container
buffer.addSample(0.0, new Rotation2d(1.0));
assertEquals(1.0, buffer.getSample(0.0).get().getRadians(), 0.001);
// New entry in middle of container
buffer.addSample(0.5, new Rotation2d(0.5));
assertEquals(0.5, buffer.getSample(0.5).get().getRadians(), 0.001);
// Override sample
buffer.addSample(0.5, new Rotation2d(1.0));
assertEquals(1.0, buffer.getSample(0.5).get().getRadians(), 0.001);
}
@Test
void testInterpolation() {
TimeInterpolatableBuffer<Rotation2d> buffer = TimeInterpolatableBuffer.createBuffer(10);
buffer.addSample(0, new Rotation2d());
assertEquals(0, buffer.getSample(0).get().getRadians(), 0.001);
buffer.addSample(1, new Rotation2d(1));
buffer.addSample(0.0, new Rotation2d());
assertEquals(0.0, buffer.getSample(0.0).get().getRadians(), 0.001);
buffer.addSample(1.0, new Rotation2d(1.0));
assertEquals(0.5, buffer.getSample(0.5).get().getRadians(), 0.001);
assertEquals(1.0, buffer.getSample(1.0).get().getRadians(), 0.001);
buffer.addSample(3, new Rotation2d(2));
assertEquals(1.5, buffer.getSample(2).get().getRadians(), 0.001);
buffer.addSample(3.0, new Rotation2d(2.0));
assertEquals(1.5, buffer.getSample(2.0).get().getRadians(), 0.001);
buffer.addSample(10.5, new Rotation2d(2));
assertEquals(new Rotation2d(1), buffer.getSample(0).get());
assertEquals(new Rotation2d(1.0), buffer.getSample(0.0).get());
}
@Test
@@ -32,12 +53,12 @@ class TimeInterpolatableBufferTest {
TimeInterpolatableBuffer<Pose2d> buffer = TimeInterpolatableBuffer.createBuffer(10);
// We expect to be at (1 - 1/Math.sqrt(2), 1/Math.sqrt(2), 45deg) at t=0.5
buffer.addSample(0, new Pose2d(0, 0, Rotation2d.fromDegrees(90)));
buffer.addSample(1, new Pose2d(1, 1, Rotation2d.fromDegrees(0)));
buffer.addSample(0.0, new Pose2d(0.0, 0.0, Rotation2d.fromDegrees(90.0)));
buffer.addSample(1.0, new Pose2d(1.0, 1.0, Rotation2d.fromDegrees(0.0)));
Pose2d sample = buffer.getSample(0.5).get();
assertEquals(1 - 1 / Math.sqrt(2), sample.getTranslation().getX(), 0.01);
assertEquals(1 / Math.sqrt(2), sample.getTranslation().getY(), 0.01);
assertEquals(45, sample.getRotation().getDegrees(), 0.01);
assertEquals(1.0 - 1.0 / Math.sqrt(2.0), sample.getTranslation().getX(), 0.01);
assertEquals(1.0 / Math.sqrt(2.0), sample.getTranslation().getY(), 0.01);
assertEquals(45.0, sample.getRotation().getDegrees(), 0.01);
}
}