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[wpimath] Deduplicate angle modulus functions (#2998)

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frc::NormalizeAngle(), units::math::NormalizeAngle(), and
frc::GetModulusError() were replaced with frc::InputModulus() and
frc::AngleModulus().

They were placed in wpimath/src/main/native/include/frc/MathUtil.h for
C++ and wpimath/src/main/java/edu/wpi/first/wpiutil/math/MathUtil.java
for Java.
This commit is contained in:
Tyler Veness
2021-01-01 16:22:00 -08:00
committed by GitHub
parent bf8c0da4be
commit 62f0f8190d
23 changed files with 210 additions and 219 deletions
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5
wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
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@@ -4,6 +4,7 @@
#include <units/math.h>
#include "frc/MathUtil.h"
#include "frc/controller/RamseteController.h"
#include "frc/trajectory/TrajectoryGenerator.h"
#include "gtest/gtest.h"
@@ -36,7 +37,7 @@ TEST(RamseteControllerTest, ReachesReference) {
auto& endPose = trajectory.States().back().pose;
EXPECT_NEAR_UNITS(endPose.X(), robotPose.X(), kTolerance);
EXPECT_NEAR_UNITS(endPose.Y(), robotPose.Y(), kTolerance);
EXPECT_NEAR_UNITS(units::math::NormalizeAngle(endPose.Rotation().Radians() -
robotPose.Rotation().Radians()),
EXPECT_NEAR_UNITS(frc::AngleModulus(endPose.Rotation().Radians() -
robotPose.Rotation().Radians()),
0_rad, kAngularTolerance);
}