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Merge branch '2022'

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This commit is contained in:
Peter Johnson
2021-05-09 14:15:40 -07:00
parent ba08baabb9 a3cd90dd71
commit 3cc2da3328
765 changed files with 5914 additions and 13714 deletions
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2
wpimath/src/test/java/edu/wpi/first/wpiutil/math/MathUtilTest.java → wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
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@@ -2,7 +2,7 @@
// 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.wpiutil.math;
package edu.wpi.first.math;
import static org.junit.jupiter.api.Assertions.assertEquals;

10
wpimath/src/test/java/edu/wpi/first/wpiutil/math/MatrixTest.java → wpimath/src/test/java/edu/wpi/first/math/MatrixTest.java
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@@ -2,16 +2,16 @@
// 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.wpiutil.math;
package edu.wpi.first.math;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertThrows;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N2;
import edu.wpi.first.wpiutil.math.numbers.N3;
import edu.wpi.first.wpiutil.math.numbers.N4;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.numbers.N4;
import org.ejml.data.SingularMatrixException;
import org.junit.jupiter.api.Test;

12
wpimath/src/test/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforwardTest.java → wpimath/src/test/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforwardTest.java
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@@ -2,15 +2,15 @@
// 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.wpilibj.controller;
package edu.wpi.first.math.controller;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpiutil.math.Matrix;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N2;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import org.junit.jupiter.api.Test;
class ControlAffinePlantInversionFeedforwardTest {

12
wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforwardTest.java → wpimath/src/test/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforwardTest.java
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@@ -2,15 +2,15 @@
// 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.wpilibj.controller;
package edu.wpi.first.math.controller;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpiutil.math.Matrix;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N2;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import org.junit.jupiter.api.Test;
class LinearPlantInversionFeedforwardTest {

14
wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearQuadraticRegulatorTest.java → wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
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@@ -2,16 +2,16 @@
// 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.wpilibj.controller;
package edu.wpi.first.math.controller;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N2;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import org.junit.jupiter.api.Test;
public class LinearQuadraticRegulatorTest {

24
wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearSystemLoopTest.java → wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java
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@@ -2,22 +2,22 @@
// 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.wpilibj.controller;
package edu.wpi.first.math.controller;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.estimator.KalmanFilter;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.LinearSystemLoop;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpiutil.math.Matrix;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N2;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.estimator.KalmanFilter;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.LinearSystemLoop;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import java.util.ArrayList;
import java.util.List;
import java.util.Random;

62
wpimath/src/test/java/edu/wpi/first/math/controller/RamseteControllerTest.java Normal file
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@@ -0,0 +1,62 @@
// 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);
@Test
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
void testReachesReference() {
final var controller = new RamseteController(2.0, 0.7);
var robotPose = new Pose2d(2.7, 23.0, Rotation2d.fromDegrees(0.0));
final var waypoints = new ArrayList<Pose2d>();
waypoints.add(new Pose2d(2.75, 22.521, new Rotation2d(0)));
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));
}
}

8
wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/AngleStatisticsTest.java → wpimath/src/test/java/edu/wpi/first/math/estimator/AngleStatisticsTest.java
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@@ -2,13 +2,13 @@
// 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.wpilibj.estimator;
package edu.wpi.first.math.estimator;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpiutil.math.Matrix;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import org.junit.jupiter.api.Test;
public class AngleStatisticsTest {

24
wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimatorTest.java → wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
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@@ -2,21 +2,21 @@
// 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.wpilibj.estimator;
package edu.wpi.first.math.estimator;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpiutil.math.MatBuilder;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import java.util.List;
import java.util.Random;
import org.junit.jupiter.api.Test;

32
wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilterTest.java → wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
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@@ -2,26 +2,26 @@
// 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.wpilibj.estimator;
package edu.wpi.first.math.estimator;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.math.StateSpaceUtil;
import edu.wpi.first.wpilibj.system.NumericalIntegration;
import edu.wpi.first.wpilibj.system.NumericalJacobian;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpiutil.math.Matrix;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N2;
import edu.wpi.first.wpiutil.math.numbers.N3;
import edu.wpi.first.wpiutil.math.numbers.N5;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.math.StateSpaceUtil;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.numbers.N5;
import edu.wpi.first.math.system.NumericalIntegration;
import edu.wpi.first.math.system.NumericalJacobian;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;

30
wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/KalmanFilterTest.java → wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
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@@ -2,25 +2,25 @@
// 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.wpilibj.estimator;
package edu.wpi.first.math.estimator;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpiutil.math.Matrix;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N2;
import edu.wpi.first.wpiutil.math.numbers.N3;
import edu.wpi.first.wpiutil.math.numbers.N6;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.numbers.N6;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import java.util.ArrayList;
import java.util.List;
import java.util.Random;

18
wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimatorTest.java → wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
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@@ -2,18 +2,18 @@
// 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.wpilibj.estimator;
package edu.wpi.first.math.estimator;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.MecanumDriveKinematics;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import java.util.List;
import java.util.Random;
import org.junit.jupiter.api.Test;

8
wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MerweScaledSigmaPointsTest.java → wpimath/src/test/java/edu/wpi/first/math/estimator/MerweScaledSigmaPointsTest.java
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@@ -2,13 +2,13 @@
// 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.wpilibj.estimator;
package edu.wpi.first.math.estimator;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpiutil.math.Matrix;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import org.junit.jupiter.api.Test;
public class MerweScaledSigmaPointsTest {

18
wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimatorTest.java → wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
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@@ -2,18 +2,18 @@
// 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.wpilibj.estimator;
package edu.wpi.first.math.estimator;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import java.util.List;
import java.util.Random;
import org.junit.jupiter.api.Test;

36
wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilterTest.java → wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
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@@ -2,29 +2,29 @@
// 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.wpilibj.estimator;
package edu.wpi.first.math.estimator;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.math.Discretization;
import edu.wpi.first.wpilibj.math.StateSpaceUtil;
import edu.wpi.first.wpilibj.system.NumericalIntegration;
import edu.wpi.first.wpilibj.system.NumericalJacobian;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpiutil.math.Matrix;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N2;
import edu.wpi.first.wpiutil.math.numbers.N4;
import edu.wpi.first.wpiutil.math.numbers.N6;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.math.Discretization;
import edu.wpi.first.math.math.StateSpaceUtil;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.numbers.N4;
import edu.wpi.first.math.numbers.N6;
import edu.wpi.first.math.system.NumericalIntegration;
import edu.wpi.first.math.system.NumericalJacobian;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;

2
wpimath/src/test/java/edu/wpi/first/wpilibj/LinearFilterTest.java → wpimath/src/test/java/edu/wpi/first/math/filter/LinearFilterTest.java
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@@ -2,7 +2,7 @@
// 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.wpilibj;
package edu.wpi.first.math.filter;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertThrows;

2
wpimath/src/test/java/edu/wpi/first/wpilibj/MedianFilterTest.java → wpimath/src/test/java/edu/wpi/first/math/filter/MedianFilterTest.java
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@@ -2,7 +2,7 @@
// 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.wpilibj;
package edu.wpi.first.math.filter;
import static org.junit.jupiter.api.Assertions.assertEquals;

2
wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Pose2dTest.java → wpimath/src/test/java/edu/wpi/first/math/geometry/Pose2dTest.java
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@@ -2,7 +2,7 @@
// 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.wpilibj.geometry;
package edu.wpi.first.math.geometry;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;

2
wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Rotation2dTest.java → wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java
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@@ -2,7 +2,7 @@
// 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.wpilibj.geometry;
package edu.wpi.first.math.geometry;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;

2
wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Transform2dTest.java → wpimath/src/test/java/edu/wpi/first/math/geometry/Transform2dTest.java
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@@ -2,7 +2,7 @@
// 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.wpilibj.geometry;
package edu.wpi.first.math.geometry;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;

2
wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Translation2dTest.java → wpimath/src/test/java/edu/wpi/first/math/geometry/Translation2dTest.java
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@@ -2,7 +2,7 @@
// 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.wpilibj.geometry;
package edu.wpi.first.math.geometry;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;

2
wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Twist2dTest.java → wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java
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@@ -2,7 +2,7 @@
// 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.wpilibj.geometry;
package edu.wpi.first.math.geometry;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;

4
wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeedsTest.java → wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java
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@@ -2,12 +2,12 @@
// 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.wpilibj.kinematics;
package edu.wpi.first.math.kinematics;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation2d;
import org.junit.jupiter.api.Test;
class ChassisSpeedsTest {

2
wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematicsTest.java → wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematicsTest.java
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@@ -2,7 +2,7 @@
// 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.wpilibj.kinematics;
package edu.wpi.first.math.kinematics;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;

6
wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometryTest.java → wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometryTest.java
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@@ -2,13 +2,13 @@
// 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.wpilibj.kinematics;
package edu.wpi.first.math.kinematics;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import org.junit.jupiter.api.Test;
class DifferentialDriveOdometryTest {

4
wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematicsTest.java → wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveKinematicsTest.java
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@@ -2,12 +2,12 @@
// 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.wpilibj.kinematics;
package edu.wpi.first.math.kinematics;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation2d;
import org.junit.jupiter.api.Test;
class MecanumDriveKinematicsTest {

8
wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometryTest.java → wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometryTest.java
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@@ -2,14 +2,14 @@
// 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.wpilibj.kinematics;
package edu.wpi.first.math.kinematics;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import org.junit.jupiter.api.Test;
class MecanumDriveOdometryTest {

6
wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematicsTest.java → wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java
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@@ -2,13 +2,13 @@
// 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.wpilibj.kinematics;
package edu.wpi.first.math.kinematics;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import org.junit.jupiter.api.Test;
class SwerveDriveKinematicsTest {

8
wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometryTest.java → wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometryTest.java
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@@ -2,14 +2,14 @@
// 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.wpilibj.kinematics;
package edu.wpi.first.math.kinematics;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import org.junit.jupiter.api.Test;
class SwerveDriveOdometryTest {

4
wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleStateTest.java → wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveModuleStateTest.java
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@@ -2,12 +2,12 @@
// 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.wpilibj.kinematics;
package edu.wpi.first.math.kinematics;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation2d;
import org.junit.jupiter.api.Test;
class SwerveModuleStateTest {

18
wpimath/src/test/java/edu/wpi/first/wpilibj/math/StateSpaceUtilTest.java → wpimath/src/test/java/edu/wpi/first/math/math/StateSpaceUtilTest.java
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@@ -2,20 +2,20 @@
// 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.wpilibj.math;
package edu.wpi.first.math.math;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpiutil.math.Matrix;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.SimpleMatrixUtils;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N2;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.SimpleMatrixUtils;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import java.util.ArrayList;
import java.util.List;
import org.ejml.dense.row.MatrixFeatures_DDRM;

10
wpimath/src/test/java/edu/wpi/first/wpilibj/spline/CubicHermiteSplineTest.java → wpimath/src/test/java/edu/wpi/first/math/spline/CubicHermiteSplineTest.java
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@@ -2,17 +2,17 @@
// 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.wpilibj.spline;
package edu.wpi.first.math.spline;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertThrows;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.spline.SplineParameterizer.MalformedSplineException;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.spline.SplineParameterizer.MalformedSplineException;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;

8
wpimath/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java → wpimath/src/test/java/edu/wpi/first/math/spline/QuinticHermiteSplineTest.java
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@@ -2,16 +2,16 @@
// 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.wpilibj.spline;
package edu.wpi.first.math.spline;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertThrows;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.spline.SplineParameterizer.MalformedSplineException;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.spline.SplineParameterizer.MalformedSplineException;
import java.util.List;
import org.junit.jupiter.api.Test;

12
wpimath/src/test/java/edu/wpi/first/wpilibj/system/LinearSystemIDTest.java → wpimath/src/test/java/edu/wpi/first/math/system/LinearSystemIDTest.java
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@@ -2,16 +2,16 @@
// 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.wpilibj.system;
package edu.wpi.first.math.system;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpiutil.math.Matrix;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import org.junit.jupiter.api.Test;
class LinearSystemIDTest {

10
wpimath/src/test/java/edu/wpi/first/wpilibj/system/NumericalIntegrationTest.java → wpimath/src/test/java/edu/wpi/first/math/system/NumericalIntegrationTest.java
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@@ -2,14 +2,14 @@
// 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.wpilibj.system;
package edu.wpi.first.math.system;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpiutil.math.Matrix;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N1;
import org.junit.jupiter.api.Test;
public class NumericalIntegrationTest {

6
wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/CentripetalAccelerationConstraintTest.java → wpimath/src/test/java/edu/wpi/first/math/trajectory/CentripetalAccelerationConstraintTest.java
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@@ -2,12 +2,12 @@
// 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.wpilibj.trajectory;
package edu.wpi.first.math.trajectory;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.trajectory.constraint.CentripetalAccelerationConstraint;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.math.trajectory.constraint.CentripetalAccelerationConstraint;
import edu.wpi.first.math.util.Units;
import java.util.Collections;
import org.junit.jupiter.api.Test;

10
wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveKinematicsConstraintTest.java → wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveKinematicsConstraintTest.java
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@@ -2,15 +2,15 @@
// 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.wpilibj.trajectory;
package edu.wpi.first.math.trajectory;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.trajectory.constraint.DifferentialDriveKinematicsConstraint;
import edu.wpi.first.math.util.Units;
import java.util.Collections;
import org.junit.jupiter.api.Test;

16
wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveVoltageConstraintTest.java → wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveVoltageConstraintTest.java
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@@ -2,19 +2,19 @@
// 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.wpilibj.trajectory;
package edu.wpi.first.math.trajectory;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.trajectory.constraint.DifferentialDriveVoltageConstraint;
import java.util.ArrayList;
import java.util.Collections;
import org.junit.jupiter.api.Test;

14
wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/EllipticalRegionConstraintTest.java → wpimath/src/test/java/edu/wpi/first/math/trajectory/EllipticalRegionConstraintTest.java
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@@ -2,17 +2,17 @@
// 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.wpilibj.trajectory;
package edu.wpi.first.math.trajectory;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.trajectory.constraint.EllipticalRegionConstraint;
import edu.wpi.first.wpilibj.trajectory.constraint.MaxVelocityConstraint;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.constraint.EllipticalRegionConstraint;
import edu.wpi.first.math.trajectory.constraint.MaxVelocityConstraint;
import edu.wpi.first.math.util.Units;
import java.util.List;
import org.junit.jupiter.api.Test;

14
wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/RectangularRegionConstraintTest.java → wpimath/src/test/java/edu/wpi/first/math/trajectory/RectangularRegionConstraintTest.java
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@@ -2,17 +2,17 @@
// 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.wpilibj.trajectory;
package edu.wpi.first.math.trajectory;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.trajectory.constraint.MaxVelocityConstraint;
import edu.wpi.first.wpilibj.trajectory.constraint.RectangularRegionConstraint;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.constraint.MaxVelocityConstraint;
import edu.wpi.first.math.trajectory.constraint.RectangularRegionConstraint;
import edu.wpi.first.math.util.Units;
import java.util.List;
import org.junit.jupiter.api.Test;

6
wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryConcatenateTest.java → wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryConcatenateTest.java
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@@ -2,13 +2,13 @@
// 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.wpilibj.trajectory;
package edu.wpi.first.math.trajectory;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import java.util.List;
import org.junit.jupiter.api.Test;

14
wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGeneratorTest.java → wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryGeneratorTest.java
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@@ -2,18 +2,18 @@
// 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.wpilibj.trajectory;
package edu.wpi.first.math.trajectory;
import static edu.wpi.first.wpilibj.util.Units.feetToMeters;
import static edu.wpi.first.math.util.Units.feetToMeters;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Transform2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.trajectory.constraint.TrajectoryConstraint;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;

6
wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryJsonTest.java → wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryJsonTest.java
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@@ -2,13 +2,13 @@
// 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.wpilibj.trajectory;
package edu.wpi.first.math.trajectory;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.trajectory.constraint.DifferentialDriveKinematicsConstraint;
import java.util.List;
import org.junit.jupiter.api.Test;

10
wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryTransformTest.java → wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryTransformTest.java
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@@ -2,14 +2,14 @@
// 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.wpilibj.trajectory;
package edu.wpi.first.math.trajectory;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Transform2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Translation2d;
import java.util.List;
import org.junit.jupiter.api.Test;

2
wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfileTest.java → wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java
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@@ -2,7 +2,7 @@
// 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.wpilibj.trajectory;
package edu.wpi.first.math.trajectory;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertNotEquals;

2
wpimath/src/test/java/edu/wpi/first/wpilibj/util/UnitsTest.java → wpimath/src/test/java/edu/wpi/first/math/util/UnitsTest.java
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@@ -2,7 +2,7 @@
// 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.wpilibj.util;
package edu.wpi.first.math.util;
import static org.junit.jupiter.api.Assertions.assertEquals;