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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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30
wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ControllerUtilTest.java
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@@ -1,30 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.controller;
import static org.junit.jupiter.api.Assertions.assertEquals;
import org.junit.jupiter.api.Test;
class ControllerUtilTest {
@Test
void testGetModulusError() {
// Test symmetric range
assertEquals(-20.0, ControllerUtil.getModulusError(170.0, -170.0, -180.0, 180.0));
assertEquals(-20.0, ControllerUtil.getModulusError(170.0 + 360.0, -170.0, -180.0, 180.0));
assertEquals(-20.0, ControllerUtil.getModulusError(170.0, -170.0 + 360.0, -180.0, 180.0));
assertEquals(20.0, ControllerUtil.getModulusError(-170.0, 170.0, -180.0, 180.0));
assertEquals(20.0, ControllerUtil.getModulusError(-170.0 + 360.0, 170.0, -180.0, 180.0));
assertEquals(20.0, ControllerUtil.getModulusError(-170.0, 170.0 + 360.0, -180.0, 180.0));
// Test range start at zero
assertEquals(-20.0, ControllerUtil.getModulusError(170.0, 190.0, 0.0, 360.0));
assertEquals(-20.0, ControllerUtil.getModulusError(170.0 + 360.0, 190.0, 0.0, 360.0));
assertEquals(-20.0, ControllerUtil.getModulusError(170.0, 190.0 + 360, 0.0, 360.0));
// Test asymmetric range that doesn't start at zero
assertEquals(-20.0, ControllerUtil.getModulusError(170.0, -170.0, -170.0, 190.0));
}
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/HolonomicDriveControllerTest.java
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@@ -69,7 +69,7 @@ class HolonomicDriveControllerTest {
() ->
assertEquals(
0.0,
MathUtil.normalizeAngle(finalRobotPose.getRotation().getRadians()),
MathUtil.angleModulus(finalRobotPose.getRotation().getRadians()),
kAngularTolerance));
}
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/RamseteControllerTest.java
View File

@@ -55,7 +55,7 @@ class RamseteControllerTest {
() ->
assertEquals(
0.0,
MathUtil.normalizeAngle(
MathUtil.angleModulus(
endPose.getRotation().getRadians() - finalRobotPose.getRotation().getRadians()),
kAngularTolerance));
}