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[wpimath] Add TimeInterpolatableBuffer (#2695)

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These classes are useful for storing previous robot positions to use in conjunction with the upcoming pose estimators.

Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: cttew <cttewari@gmail.com>
This commit is contained in:
Matt
2021-12-30 20:08:05 -07:00
committed by GitHub
parent b8d019cdb4
commit 315be873c4
14 changed files with 485 additions and 20 deletions
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38
wpimath/src/test/native/cpp/interpolation/TimeInterpolatableBufferTest.cpp Normal file
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// 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 <cmath>
#include "frc/geometry/Pose2d.h"
#include "frc/geometry/Rotation2d.h"
#include "frc/interpolation/TimeInterpolatableBuffer.h"
#include "gtest/gtest.h"
#include "units/time.h"
TEST(TimeInterpolatableBufferTest, Interpolation) {
frc::TimeInterpolatableBuffer<frc::Rotation2d> buffer{10_s};
buffer.AddSample(0_s, frc::Rotation2d(0_rad));
EXPECT_TRUE(buffer.Sample(0_s) == frc::Rotation2d(0_rad));
buffer.AddSample(1_s, frc::Rotation2d(1_rad));
EXPECT_TRUE(buffer.Sample(0.5_s) == frc::Rotation2d(0.5_rad));
EXPECT_TRUE(buffer.Sample(1_s) == frc::Rotation2d(1_rad));
buffer.AddSample(3_s, frc::Rotation2d(2_rad));
EXPECT_TRUE(buffer.Sample(2_s) == frc::Rotation2d(1.5_rad));
buffer.AddSample(10.5_s, frc::Rotation2d(2_rad));
EXPECT_TRUE(buffer.Sample(0_s) == frc::Rotation2d(1_rad));
}
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);
EXPECT_TRUE(std::abs(sample.X().to<double>() - (1 - 1 / std::sqrt(2))) <
0.01);
EXPECT_TRUE(std::abs(sample.Y().to<double>() - (1 / std::sqrt(2))) < 0.01);
EXPECT_TRUE(std::abs(sample.Rotation().Degrees().to<double>() - 45) < 0.01);
}