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Remove encoder velocities methods in DifferentialDriveOdometry (#2147)

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It doesn't make sense to continue to provide a less accurate method of performing odometry
when a more accurate method using distances exists.

This also removes the need to pass DifferentialDriveKinematics to the constructor.
This commit is contained in:
Prateek Machiraju
2019-12-01 02:10:29 -05:00
committed by Peter Johnson
parent b8c1024261
commit 5b73c17f25
10 changed files with 41 additions and 265 deletions
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46
wpilibc/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp
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@@ -15,52 +15,8 @@ static constexpr double kEpsilon = 1E-9;
using namespace frc;
TEST(DifferentialDriveOdometry, OneIteration) {
DifferentialDriveKinematics kinematics{0.381_m * 2};
DifferentialDriveOdometry odometry{kinematics, 0_rad};
odometry.ResetPosition(Pose2d(), 0_rad);
DifferentialDriveWheelSpeeds wheelSpeeds{0.02_mps, 0.02_mps};
odometry.UpdateWithTime(0_s, Rotation2d(), DifferentialDriveWheelSpeeds());
const auto& pose = odometry.UpdateWithTime(1_s, Rotation2d(), wheelSpeeds);
EXPECT_NEAR(pose.Translation().X().to<double>(), 0.02, kEpsilon);
EXPECT_NEAR(pose.Translation().Y().to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(pose.Rotation().Radians().to<double>(), 0.0, kEpsilon);
}
TEST(DifferentialDriveOdometry, QuarterCircle) {
DifferentialDriveKinematics kinematics{0.381_m * 2};
DifferentialDriveOdometry odometry{kinematics, 0_rad};
odometry.ResetPosition(Pose2d(), 0_rad);
DifferentialDriveWheelSpeeds wheelSpeeds{
0.0_mps, units::meters_per_second_t(5 * wpi::math::pi)};
odometry.UpdateWithTime(0_s, Rotation2d(), DifferentialDriveWheelSpeeds());
const auto& pose =
odometry.UpdateWithTime(1_s, Rotation2d(90_deg), wheelSpeeds);
EXPECT_NEAR(pose.Translation().X().to<double>(), 5.0, kEpsilon);
EXPECT_NEAR(pose.Translation().Y().to<double>(), 5.0, kEpsilon);
EXPECT_NEAR(pose.Rotation().Degrees().to<double>(), 90.0, kEpsilon);
}
TEST(DifferentialDriveWheelSpeeds, GyroAngleReset) {
DifferentialDriveKinematics kinematics{0.381_m * 2};
DifferentialDriveOdometry odometry{kinematics, Rotation2d(90_deg)};
odometry.UpdateWithTime(0_s, Rotation2d(90_deg), {});
const auto& pose =
odometry.UpdateWithTime(1_s, Rotation2d(90_deg), {1_mps, 1_mps});
EXPECT_NEAR(pose.Translation().X().to<double>(), 1.0, kEpsilon);
EXPECT_NEAR(pose.Translation().Y().to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(pose.Rotation().Degrees().to<double>(), 0.0, kEpsilon);
}
TEST(DifferentialDriveOdometry, EncoderDistances) {
DifferentialDriveKinematics kinematics{0.381_m * 2};
DifferentialDriveOdometry odometry{kinematics, Rotation2d(45_deg)};
DifferentialDriveOdometry odometry{Rotation2d(45_deg)};
const auto& pose = odometry.Update(Rotation2d(135_deg), 0_m,
units::meter_t(5 * wpi::math::pi));