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[wpimath] Fix C++ pose estimator poseEstimate initialization (#7249)

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This commit is contained in:
Joseph Eng
2024-10-21 22:29:04 -07:00
committed by GitHub
parent 40af8db28a
commit 6745fc7c2f
7 changed files with 42 additions and 9 deletions
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14
wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
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@@ -359,8 +359,18 @@ TEST(DifferentialDrivePoseEstimatorTest, TestSampleAt) {
TEST(DifferentialDrivePoseEstimatorTest, TestReset) {
frc::DifferentialDriveKinematics kinematics{1_m};
frc::DifferentialDrivePoseEstimator estimator{
kinematics, frc::Rotation2d{}, 0_m, 0_m, frc::Pose2d{},
{1.0, 1.0, 1.0}, {1.0, 1.0, 1.0}};
kinematics,
frc::Rotation2d{},
0_m,
0_m,
frc::Pose2d{-1_m, -1_m, frc::Rotation2d{1_rad}},
{1.0, 1.0, 1.0},
{1.0, 1.0, 1.0}};
// Test initial pose
EXPECT_EQ(-1, estimator.GetEstimatedPosition().X().value());
EXPECT_EQ(-1, estimator.GetEstimatedPosition().Y().value());
EXPECT_EQ(1, estimator.GetEstimatedPosition().Rotation().Radians().value());
// Test reset position
estimator.ResetPosition(frc::Rotation2d{}, 1_m, 1_m,

13
wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
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@@ -368,8 +368,17 @@ TEST(MecanumDrivePoseEstimatorTest, TestReset) {
frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
frc::MecanumDrivePoseEstimator estimator{
kinematics, frc::Rotation2d{}, frc::MecanumDriveWheelPositions{},
frc::Pose2d{}, {1.0, 1.0, 1.0}, {1.0, 1.0, 1.0}};
kinematics,
frc::Rotation2d{},
frc::MecanumDriveWheelPositions{},
frc::Pose2d{-1_m, -1_m, frc::Rotation2d{1_rad}},
{1.0, 1.0, 1.0},
{1.0, 1.0, 1.0}};
// Test initial pose
EXPECT_EQ(-1, estimator.GetEstimatedPosition().X().value());
EXPECT_EQ(-1, estimator.GetEstimatedPosition().Y().value());
EXPECT_EQ(1, estimator.GetEstimatedPosition().Rotation().Radians().value());
// Test reset position
estimator.ResetPosition(frc::Rotation2d{}, {1_m, 1_m, 1_m, 1_m},

7
wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
View File

@@ -394,10 +394,15 @@ TEST(SwerveDrivePoseEstimatorTest, TestReset) {
frc::Rotation2d{},
{frc::SwerveModulePosition{}, frc::SwerveModulePosition{},
frc::SwerveModulePosition{}, frc::SwerveModulePosition{}},
frc::Pose2d{},
frc::Pose2d{-1_m, -1_m, frc::Rotation2d{1_rad}},
{1.0, 1.0, 1.0},
{1.0, 1.0, 1.0}};
// Test initial pose
EXPECT_EQ(-1, estimator.GetEstimatedPosition().X().value());
EXPECT_EQ(-1, estimator.GetEstimatedPosition().Y().value());
EXPECT_EQ(1, estimator.GetEstimatedPosition().Rotation().Radians().value());
// Test reset position
{
frc::SwerveModulePosition modulePosition{1_m, frc::Rotation2d{}};