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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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29
wpimath/src/test/native/cpp/interpolation/TimeInterpolatableBufferTest.cpp
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@@ -11,6 +11,26 @@
#include "frc/interpolation/TimeInterpolatableBuffer.h"
#include "units/time.h"
TEST(TimeInterpolatableBufferTest, AddSample) {
frc::TimeInterpolatableBuffer<frc::Rotation2d> buffer{10_s};
// No entries
buffer.AddSample(1_s, 0_rad);
EXPECT_TRUE(buffer.Sample(1_s).value() == 0_rad);
// New entry at start of container
buffer.AddSample(0_s, 1_rad);
EXPECT_TRUE(buffer.Sample(0_s).value() == 1_rad);
// New entry in middle of container
buffer.AddSample(0.5_s, 0.5_rad);
EXPECT_TRUE(buffer.Sample(0.5_s).value() == 0.5_rad);
// Override sample
buffer.AddSample(0.5_s, 1_rad);
EXPECT_TRUE(buffer.Sample(0.5_s).value() == 1_rad);
}
TEST(TimeInterpolatableBufferTest, Interpolation) {
frc::TimeInterpolatableBuffer<frc::Rotation2d> buffer{10_s};
@@ -28,11 +48,14 @@ TEST(TimeInterpolatableBufferTest, Interpolation) {
TEST(TimeInterpolatableBufferTest, Pose2d) {
frc::TimeInterpolatableBuffer<frc::Pose2d> buffer{10_s};
// We expect to be at (1 - 1/std::sqrt(2), 1/std::sqrt(2), 45deg) at t=0.5
buffer.AddSample(0_s, frc::Pose2d{0_m, 0_m, 90_deg});
buffer.AddSample(1_s, frc::Pose2d{1_m, 1_m, 0_deg});
frc::Pose2d sample = buffer.Sample(0.5_s).value();
EXPECT_TRUE(std::abs(sample.X().value() - (1 - 1 / std::sqrt(2))) < 0.01);
EXPECT_TRUE(std::abs(sample.Y().value() - (1 / std::sqrt(2))) < 0.01);
EXPECT_TRUE(std::abs(sample.Rotation().Degrees().value() - 45) < 0.01);
EXPECT_TRUE(std::abs(sample.X().value() - (1.0 - 1.0 / std::sqrt(2.0))) <
0.01);
EXPECT_TRUE(std::abs(sample.Y().value() - (1.0 / std::sqrt(2.0))) < 0.01);
EXPECT_TRUE(std::abs(sample.Rotation().Degrees().value() - 45.0) < 0.01);
}