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[wpimath] Move math functionality into new wpimath library (#2629)
The wpimath library is a new library designed to separate the reusable math functionality from the common utility library (wpiutil) and the hardware-dependent library (wpilibc/j). Package names / include file names were NOT changed to minimize breakage. In a future year it would be good to revamp these for a more uniform user experience and to reduce the risk of accidental naming conflicts. While theoretically all of this functionality could be placed into wpiutil, several pieces of this library (e.g. DARE) are very time-consuming to compile, so it's nice to avoid this expense for users who only want cscore or ntcore. It also allows for easy future separation of build tasks vs number of workers on memory-constrained machines. This moves the following functionality from wpiutil into wpimath: - Eigen - ejml - Drake - DARE - wpiutil.math package (Matrix etc) - units And the following functionality from wpilibc/j into wpimath: - Geometry - Kinematics - Spline - Trajectory - LinearFilter - MedianFilter - Feed-forward controllers
This commit is contained in:
Peter Johnson
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <wpi/math>
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#include "frc/geometry/Translation2d.h"
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#include "frc/kinematics/SwerveDriveKinematics.h"
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#include "gtest/gtest.h"
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#include "units/angular_velocity.h"
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using namespace frc;
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static constexpr double kEpsilon = 0.1;
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class SwerveDriveKinematicsTest : public ::testing::Test {
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protected:
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Translation2d m_fl{12_m, 12_m};
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Translation2d m_fr{12_m, -12_m};
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Translation2d m_bl{-12_m, 12_m};
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Translation2d m_br{-12_m, -12_m};
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SwerveDriveKinematics<4> m_kinematics{m_fl, m_fr, m_bl, m_br};
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};
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TEST_F(SwerveDriveKinematicsTest, StraightLineInverseKinematics) {
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ChassisSpeeds speeds{5.0_mps, 0.0_mps, 0.0_rad_per_s};
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auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds);
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EXPECT_NEAR(fl.speed.to<double>(), 5.0, kEpsilon);
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EXPECT_NEAR(fr.speed.to<double>(), 5.0, kEpsilon);
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EXPECT_NEAR(bl.speed.to<double>(), 5.0, kEpsilon);
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EXPECT_NEAR(br.speed.to<double>(), 5.0, kEpsilon);
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EXPECT_NEAR(fl.angle.Radians().to<double>(), 0.0, kEpsilon);
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EXPECT_NEAR(fr.angle.Radians().to<double>(), 0.0, kEpsilon);
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EXPECT_NEAR(bl.angle.Radians().to<double>(), 0.0, kEpsilon);
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EXPECT_NEAR(br.angle.Radians().to<double>(), 0.0, kEpsilon);
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}
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TEST_F(SwerveDriveKinematicsTest, StraightLineForwardKinematics) {
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SwerveModuleState state{5.0_mps, Rotation2d()};
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auto chassisSpeeds = m_kinematics.ToChassisSpeeds(state, state, state, state);
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EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 5.0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0.0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 0.0, kEpsilon);
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}
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TEST_F(SwerveDriveKinematicsTest, StraightStrafeInverseKinematics) {
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ChassisSpeeds speeds{0_mps, 5_mps, 0_rad_per_s};
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auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds);
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EXPECT_NEAR(fl.speed.to<double>(), 5.0, kEpsilon);
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EXPECT_NEAR(fr.speed.to<double>(), 5.0, kEpsilon);
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EXPECT_NEAR(bl.speed.to<double>(), 5.0, kEpsilon);
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EXPECT_NEAR(br.speed.to<double>(), 5.0, kEpsilon);
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EXPECT_NEAR(fl.angle.Degrees().to<double>(), 90.0, kEpsilon);
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EXPECT_NEAR(fr.angle.Degrees().to<double>(), 90.0, kEpsilon);
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EXPECT_NEAR(bl.angle.Degrees().to<double>(), 90.0, kEpsilon);
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EXPECT_NEAR(br.angle.Degrees().to<double>(), 90.0, kEpsilon);
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}
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TEST_F(SwerveDriveKinematicsTest, StraightStrafeForwardKinematics) {
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SwerveModuleState state{5_mps, Rotation2d(90_deg)};
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auto chassisSpeeds = m_kinematics.ToChassisSpeeds(state, state, state, state);
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EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0.0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 5.0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 0.0, kEpsilon);
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}
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TEST_F(SwerveDriveKinematicsTest, TurnInPlaceInverseKinematics) {
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ChassisSpeeds speeds{0_mps, 0_mps,
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units::radians_per_second_t(2 * wpi::math::pi)};
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auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds);
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EXPECT_NEAR(fl.speed.to<double>(), 106.63, kEpsilon);
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EXPECT_NEAR(fr.speed.to<double>(), 106.63, kEpsilon);
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EXPECT_NEAR(bl.speed.to<double>(), 106.63, kEpsilon);
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EXPECT_NEAR(br.speed.to<double>(), 106.63, kEpsilon);
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EXPECT_NEAR(fl.angle.Degrees().to<double>(), 135.0, kEpsilon);
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EXPECT_NEAR(fr.angle.Degrees().to<double>(), 45.0, kEpsilon);
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EXPECT_NEAR(bl.angle.Degrees().to<double>(), -135.0, kEpsilon);
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EXPECT_NEAR(br.angle.Degrees().to<double>(), -45.0, kEpsilon);
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}
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TEST_F(SwerveDriveKinematicsTest, TurnInPlaceForwardKinematics) {
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SwerveModuleState fl{106.629_mps, Rotation2d(135_deg)};
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SwerveModuleState fr{106.629_mps, Rotation2d(45_deg)};
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SwerveModuleState bl{106.629_mps, Rotation2d(-135_deg)};
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SwerveModuleState br{106.629_mps, Rotation2d(-45_deg)};
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auto chassisSpeeds = m_kinematics.ToChassisSpeeds(fl, fr, bl, br);
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EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0.0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0.0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 2 * wpi::math::pi, kEpsilon);
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}
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TEST_F(SwerveDriveKinematicsTest, OffCenterCORRotationInverseKinematics) {
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ChassisSpeeds speeds{0_mps, 0_mps,
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units::radians_per_second_t(2 * wpi::math::pi)};
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auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds, m_fl);
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EXPECT_NEAR(fl.speed.to<double>(), 0.0, kEpsilon);
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EXPECT_NEAR(fr.speed.to<double>(), 150.796, kEpsilon);
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EXPECT_NEAR(bl.speed.to<double>(), 150.796, kEpsilon);
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EXPECT_NEAR(br.speed.to<double>(), 213.258, kEpsilon);
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EXPECT_NEAR(fl.angle.Degrees().to<double>(), 0.0, kEpsilon);
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EXPECT_NEAR(fr.angle.Degrees().to<double>(), 0.0, kEpsilon);
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EXPECT_NEAR(bl.angle.Degrees().to<double>(), -90.0, kEpsilon);
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EXPECT_NEAR(br.angle.Degrees().to<double>(), -45.0, kEpsilon);
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}
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TEST_F(SwerveDriveKinematicsTest, OffCenterCORRotationForwardKinematics) {
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SwerveModuleState fl{0.0_mps, Rotation2d(0_deg)};
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SwerveModuleState fr{150.796_mps, Rotation2d(0_deg)};
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SwerveModuleState bl{150.796_mps, Rotation2d(-90_deg)};
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SwerveModuleState br{213.258_mps, Rotation2d(-45_deg)};
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auto chassisSpeeds = m_kinematics.ToChassisSpeeds(fl, fr, bl, br);
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EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 75.398, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.vy.to<double>(), -75.398, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 2 * wpi::math::pi, kEpsilon);
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}
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TEST_F(SwerveDriveKinematicsTest,
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OffCenterCORRotationAndTranslationInverseKinematics) {
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ChassisSpeeds speeds{0_mps, 3.0_mps, 1.5_rad_per_s};
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auto [fl, fr, bl, br] =
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m_kinematics.ToSwerveModuleStates(speeds, Translation2d(24_m, 0_m));
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EXPECT_NEAR(fl.speed.to<double>(), 23.43, kEpsilon);
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EXPECT_NEAR(fr.speed.to<double>(), 23.43, kEpsilon);
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EXPECT_NEAR(bl.speed.to<double>(), 54.08, kEpsilon);
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EXPECT_NEAR(br.speed.to<double>(), 54.08, kEpsilon);
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EXPECT_NEAR(fl.angle.Degrees().to<double>(), -140.19, kEpsilon);
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EXPECT_NEAR(fr.angle.Degrees().to<double>(), -39.81, kEpsilon);
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EXPECT_NEAR(bl.angle.Degrees().to<double>(), -109.44, kEpsilon);
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EXPECT_NEAR(br.angle.Degrees().to<double>(), -70.56, kEpsilon);
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}
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TEST_F(SwerveDriveKinematicsTest,
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OffCenterCORRotationAndTranslationForwardKinematics) {
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SwerveModuleState fl{23.43_mps, Rotation2d(-140.19_deg)};
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SwerveModuleState fr{23.43_mps, Rotation2d(-39.81_deg)};
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SwerveModuleState bl{54.08_mps, Rotation2d(-109.44_deg)};
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SwerveModuleState br{54.08_mps, Rotation2d(-70.56_deg)};
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auto chassisSpeeds = m_kinematics.ToChassisSpeeds(fl, fr, bl, br);
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EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0.0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.vy.to<double>(), -33.0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 1.5, kEpsilon);
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}
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TEST_F(SwerveDriveKinematicsTest, NormalizeTest) {
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SwerveModuleState state1{5.0_mps, Rotation2d()};
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SwerveModuleState state2{6.0_mps, Rotation2d()};
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SwerveModuleState state3{4.0_mps, Rotation2d()};
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SwerveModuleState state4{7.0_mps, Rotation2d()};
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std::array<SwerveModuleState, 4> arr{state1, state2, state3, state4};
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SwerveDriveKinematics<4>::NormalizeWheelSpeeds(&arr, 5.5_mps);
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double kFactor = 5.5 / 7.0;
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EXPECT_NEAR(arr[0].speed.to<double>(), 5.0 * kFactor, kEpsilon);
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EXPECT_NEAR(arr[1].speed.to<double>(), 6.0 * kFactor, kEpsilon);
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EXPECT_NEAR(arr[2].speed.to<double>(), 4.0 * kFactor, kEpsilon);
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EXPECT_NEAR(arr[3].speed.to<double>(), 7.0 * kFactor, kEpsilon);
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}
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