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[wpimath] Improve C++ SimpleMotorFeedforward unit type support (#7440)

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Allow using non-base types
Allow using angles for serde
This commit is contained in:
Joseph Eng
2024-11-27 23:02:31 -08:00
committed by GitHub
parent 9607c6c10d
commit 59dbfc9c2d
5 changed files with 60 additions and 38 deletions
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20
wpimath/src/test/native/cpp/controller/proto/SimpleMotorFeedforwardProtoTest.cpp
View File

@@ -12,12 +12,13 @@
using namespace frc;
template <typename T>
struct SimpleMotorFeedforwardProtoTestData {
using Type = SimpleMotorFeedforward<units::meters>;
using Type = SimpleMotorFeedforward<T>;
inline static const Type kTestData = {units::volt_t{0.4},
units::volt_t{4.0} / 1_mps,
units::volt_t{0.7} / 1_mps_sq, 25_ms};
inline static const Type kTestData = {
units::volt_t{0.4}, units::volt_t{4.0} / (units::unit_t<T>{1} / 1_s),
units::volt_t{0.7} / (units::unit_t<T>{1} / 1_s / 1_s), 25_ms};
static void CheckEq(const Type& testData, const Type& data) {
EXPECT_EQ(testData.GetKs().value(), data.GetKs().value());
@@ -27,5 +28,12 @@ struct SimpleMotorFeedforwardProtoTestData {
}
};
INSTANTIATE_TYPED_TEST_SUITE_P(SimpleMotorFeedforwardMeters, ProtoTest,
SimpleMotorFeedforwardProtoTestData);
INSTANTIATE_TYPED_TEST_SUITE_P(
SimpleMotorFeedforwardMeters, ProtoTest,
SimpleMotorFeedforwardProtoTestData<units::meters>);
INSTANTIATE_TYPED_TEST_SUITE_P(
SimpleMotorFeedforwardFeet, ProtoTest,
SimpleMotorFeedforwardProtoTestData<units::feet>);
INSTANTIATE_TYPED_TEST_SUITE_P(
SimpleMotorFeedforwardRadians, ProtoTest,
SimpleMotorFeedforwardProtoTestData<units::radians>);

20
wpimath/src/test/native/cpp/controller/struct/SimpleMotorFeedforwardStructTest.cpp
View File

@@ -12,12 +12,13 @@
using namespace frc;
template <typename T>
struct SimpleMotorFeedforwardStructTestData {
using Type = SimpleMotorFeedforward<units::meters>;
using Type = SimpleMotorFeedforward<T>;
inline static const Type kTestData = {units::volt_t{0.4},
units::volt_t{4.0} / 1_mps,
units::volt_t{0.7} / 1_mps_sq, 25_ms};
inline static const Type kTestData = {
units::volt_t{0.4}, units::volt_t{4.0} / (units::unit_t<T>{1} / 1_s),
units::volt_t{0.7} / (units::unit_t<T>{1} / 1_s / 1_s), 25_ms};
static void CheckEq(const Type& testData, const Type& data) {
EXPECT_EQ(testData.GetKs().value(), data.GetKs().value());
@@ -27,5 +28,12 @@ struct SimpleMotorFeedforwardStructTestData {
}
};
INSTANTIATE_TYPED_TEST_SUITE_P(SimpleMotorFeedforwardMeters, StructTest,
SimpleMotorFeedforwardStructTestData);
INSTANTIATE_TYPED_TEST_SUITE_P(
SimpleMotorFeedforwardMeters, StructTest,
SimpleMotorFeedforwardStructTestData<units::meters>);
INSTANTIATE_TYPED_TEST_SUITE_P(
SimpleMotorFeedforwardFeet, StructTest,
SimpleMotorFeedforwardStructTestData<units::feet>);
INSTANTIATE_TYPED_TEST_SUITE_P(
SimpleMotorFeedforwardRadians, StructTest,
SimpleMotorFeedforwardStructTestData<units::radians>);