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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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8
wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/AngleStatisticsTest.java
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@@ -4,7 +4,6 @@
package edu.wpi.first.wpilibj.estimator;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpiutil.math.Matrix;
@@ -42,11 +41,4 @@ public class AngleStatisticsTest {
var second = VecBuilder.fill(1, Math.toRadians(359), 1);
assertTrue(AngleStatistics.angleAdd(first, second, 1).isEqual(VecBuilder.fill(2, 0, 3), 1e-6));
}
@Test
public void testNormalize() {
assertEquals(AngleStatistics.normalizeAngle(Math.toRadians(-2000)), Math.toRadians(160), 1e-6);
assertEquals(AngleStatistics.normalizeAngle(Math.toRadians(358)), Math.toRadians(-2), 1e-6);
assertEquals(AngleStatistics.normalizeAngle(Math.toRadians(360)), 0, 1e-6);
}
}