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[wpimath] Optimize 2nd derivative of quintic splines (#3292)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Prateek Machiraju
2023-11-30 21:07:52 -08:00
committed by GitHub
parent 4fcf0b25a1
commit 51eecef2bd
16 changed files with 336 additions and 15 deletions
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14
wpimath/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp
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@@ -41,3 +41,17 @@ TEST(TrajectoryGenertionTest, ReturnsEmptyOnMalformed) {
ASSERT_EQ(t.States().size(), 1u);
ASSERT_EQ(t.TotalTime(), 0_s);
}
TEST(TrajectoryGenerationTest, CurvatureOptimization) {
auto t = TrajectoryGenerator::GenerateTrajectory(
{{1_m, 0_m, 90_deg},
{0_m, 1_m, 180_deg},
{-1_m, 0_m, 270_deg},
{0_m, -1_m, 0_deg},
{1_m, 0_m, 90_deg}},
TrajectoryConfig{12_fps, 12_fps_sq});
for (size_t i = 1; i < t.States().size() - 1; ++i) {
EXPECT_NE(0, t.States()[i].curvature.to<double>());
}
}