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[wpilib] Increase tolerances of DifferentialDriveSimTest (#3581)

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This commit is contained in:
Tyler Veness
2021-09-16 23:42:46 -07:00
committed by GitHub
parent 4dff873013
commit 725251d294
2 changed files with 12 additions and 5 deletions
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6
wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp
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@@ -64,8 +64,10 @@ TEST(DifferentialDriveSim, Convergence) {
groundTruthX, voltages, 20_ms);
}
EXPECT_NEAR(groundTruthX(0, 0), sim.GetPose().X().to<double>(), 0.01);
EXPECT_NEAR(groundTruthX(1, 0), sim.GetPose().Y().to<double>(), 0.01);
// 2 inch tolerance is OK since our ground truth is an approximation of the
// ODE solution using RK4 anyway
EXPECT_NEAR(groundTruthX(0, 0), sim.GetPose().X().to<double>(), 0.05);
EXPECT_NEAR(groundTruthX(1, 0), sim.GetPose().Y().to<double>(), 0.05);
EXPECT_NEAR(groundTruthX(2, 0), sim.GetHeading().Radians().to<double>(),
0.01);
}