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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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10
wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp
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@@ -4,6 +4,8 @@
#include <gtest/gtest.h>
#include <wpi/math>
#include "Eigen/Core"
#include "frc/estimator/AngleStatistics.h"
@@ -33,11 +35,3 @@ TEST(AngleStatisticsTest, TestAdd) {
EXPECT_TRUE(frc::AngleAdd<3>(a, b, 1).isApprox(Eigen::Vector3d(2, 0, 3)));
}
TEST(AngleStatisticsTest, TestNormalize) {
EXPECT_NEAR(frc::NormalizeAngle(-2000 * wpi::math::pi / 180),
160 * wpi::math::pi / 180, 1e-6);
EXPECT_NEAR(frc::NormalizeAngle(358 * wpi::math::pi / 180),
-2 * wpi::math::pi / 180, 1e-6);
EXPECT_NEAR(frc::NormalizeAngle(360 * wpi::math::pi / 180), 0, 1e-6);
}