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[wpimath] Refactor TrapezoidProfile API (#5457)

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This commit is contained in:
Gold856
2023-07-19 20:25:10 -04:00
committed by GitHub
parent 72a4543493
commit 86e91e6724
24 changed files with 492 additions and 184 deletions
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69
wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
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@@ -31,9 +31,9 @@ TEST(TrapezoidProfileTest, ReachesGoal) {
frc::TrapezoidProfile<units::meter>::State goal{3_m, 0_mps};
frc::TrapezoidProfile<units::meter>::State state;
frc::TrapezoidProfile<units::meter> profile{constraints};
for (int i = 0; i < 450; ++i) {
frc::TrapezoidProfile<units::meter> profile{constraints, goal, state};
state = profile.Calculate(kDt);
state = profile.Calculate(kDt, goal, state);
}
EXPECT_EQ(state, goal);
}
@@ -45,17 +45,18 @@ TEST(TrapezoidProfileTest, PosContinousUnderVelChange) {
0.75_mps_sq};
frc::TrapezoidProfile<units::meter>::State goal{12_m, 0_mps};
frc::TrapezoidProfile<units::meter> profile{constraints, goal};
auto state = profile.Calculate(kDt);
frc::TrapezoidProfile<units::meter> profile{constraints};
auto state = profile.Calculate(kDt, goal,
frc::TrapezoidProfile<units::meter>::State{});
auto lastPos = state.position;
for (int i = 0; i < 1600; ++i) {
if (i == 400) {
constraints.maxVelocity = 0.75_mps;
profile = frc::TrapezoidProfile<units::meter>{constraints};
}
profile = frc::TrapezoidProfile<units::meter>{constraints, goal, state};
state = profile.Calculate(kDt);
state = profile.Calculate(kDt, goal, state);
auto estimatedVel = (state.position - lastPos) / kDt;
if (i >= 400) {
@@ -79,9 +80,9 @@ TEST(TrapezoidProfileTest, Backwards) {
frc::TrapezoidProfile<units::meter>::State goal{-2_m, 0_mps};
frc::TrapezoidProfile<units::meter>::State state;
frc::TrapezoidProfile<units::meter> profile{constraints};
for (int i = 0; i < 400; ++i) {
frc::TrapezoidProfile<units::meter> profile{constraints, goal, state};
state = profile.Calculate(kDt);
state = profile.Calculate(kDt, goal, state);
}
EXPECT_EQ(state, goal);
}
@@ -92,16 +93,16 @@ TEST(TrapezoidProfileTest, SwitchGoalInMiddle) {
frc::TrapezoidProfile<units::meter>::State goal{-2_m, 0_mps};
frc::TrapezoidProfile<units::meter>::State state;
frc::TrapezoidProfile<units::meter> profile{constraints};
for (int i = 0; i < 200; ++i) {
frc::TrapezoidProfile<units::meter> profile{constraints, goal, state};
state = profile.Calculate(kDt);
state = profile.Calculate(kDt, goal, state);
}
EXPECT_NE(state, goal);
goal = {0.0_m, 0.0_mps};
profile = frc::TrapezoidProfile<units::meter>{constraints};
for (int i = 0; i < 550; ++i) {
frc::TrapezoidProfile<units::meter> profile{constraints, goal, state};
state = profile.Calculate(kDt);
state = profile.Calculate(kDt, goal, state);
}
EXPECT_EQ(state, goal);
}
@@ -113,15 +114,15 @@ TEST(TrapezoidProfileTest, TopSpeed) {
frc::TrapezoidProfile<units::meter>::State goal{4_m, 0_mps};
frc::TrapezoidProfile<units::meter>::State state;
frc::TrapezoidProfile<units::meter> profile{constraints};
for (int i = 0; i < 200; ++i) {
frc::TrapezoidProfile<units::meter> profile{constraints, goal, state};
state = profile.Calculate(kDt);
state = profile.Calculate(kDt, goal, state);
}
EXPECT_NEAR_UNITS(constraints.maxVelocity, state.velocity, 10e-5_mps);
profile = frc::TrapezoidProfile<units::meter>{constraints};
for (int i = 0; i < 2000; ++i) {
frc::TrapezoidProfile<units::meter> profile{constraints, goal, state};
state = profile.Calculate(kDt);
state = profile.Calculate(kDt, goal, state);
}
EXPECT_EQ(state, goal);
}
@@ -132,9 +133,9 @@ TEST(TrapezoidProfileTest, TimingToCurrent) {
frc::TrapezoidProfile<units::meter>::State goal{2_m, 0_mps};
frc::TrapezoidProfile<units::meter>::State state;
frc::TrapezoidProfile<units::meter> profile{constraints};
for (int i = 0; i < 400; i++) {
frc::TrapezoidProfile<units::meter> profile{constraints, goal, state};
state = profile.Calculate(kDt);
state = profile.Calculate(kDt, goal, state);
EXPECT_NEAR_UNITS(profile.TimeLeftUntil(state.position), 0_s, 2e-2_s);
}
}
@@ -146,14 +147,14 @@ TEST(TrapezoidProfileTest, TimingToGoal) {
0.75_mps_sq};
frc::TrapezoidProfile<units::meter>::State goal{2_m, 0_mps};
frc::TrapezoidProfile<units::meter> profile{constraints, goal};
auto state = profile.Calculate(kDt);
frc::TrapezoidProfile<units::meter> profile{constraints};
auto state = profile.Calculate(kDt, goal,
frc::TrapezoidProfile<units::meter>::State{});
auto predictedTimeLeft = profile.TimeLeftUntil(goal.position);
bool reachedGoal = false;
for (int i = 0; i < 400; i++) {
profile = frc::TrapezoidProfile<units::meter>(constraints, goal, state);
state = profile.Calculate(kDt);
state = profile.Calculate(kDt, goal, state);
if (!reachedGoal && state == goal) {
// Expected value using for loop index is just an approximation since the
// time left in the profile doesn't increase linearly at the endpoints
@@ -170,14 +171,14 @@ TEST(TrapezoidProfileTest, TimingBeforeGoal) {
0.75_mps_sq};
frc::TrapezoidProfile<units::meter>::State goal{2_m, 0_mps};
frc::TrapezoidProfile<units::meter> profile{constraints, goal};
auto state = profile.Calculate(kDt);
frc::TrapezoidProfile<units::meter> profile{constraints};
auto state = profile.Calculate(kDt, goal,
frc::TrapezoidProfile<units::meter>::State{});
auto predictedTimeLeft = profile.TimeLeftUntil(1_m);
bool reachedGoal = false;
for (int i = 0; i < 400; i++) {
profile = frc::TrapezoidProfile<units::meter>(constraints, goal, state);
state = profile.Calculate(kDt);
state = profile.Calculate(kDt, goal, state);
if (!reachedGoal &&
(units::math::abs(state.velocity - 1_mps) < 10e-5_mps)) {
EXPECT_NEAR(unit_cast<double>(predictedTimeLeft), i / 100.0, 2e-2);
@@ -193,14 +194,14 @@ TEST(TrapezoidProfileTest, TimingToNegativeGoal) {
0.75_mps_sq};
frc::TrapezoidProfile<units::meter>::State goal{-2_m, 0_mps};
frc::TrapezoidProfile<units::meter> profile{constraints, goal};
auto state = profile.Calculate(kDt);
frc::TrapezoidProfile<units::meter> profile{constraints};
auto state = profile.Calculate(kDt, goal,
frc::TrapezoidProfile<units::meter>::State{});
auto predictedTimeLeft = profile.TimeLeftUntil(goal.position);
bool reachedGoal = false;
for (int i = 0; i < 400; i++) {
profile = frc::TrapezoidProfile<units::meter>(constraints, goal, state);
state = profile.Calculate(kDt);
state = profile.Calculate(kDt, goal, state);
if (!reachedGoal && state == goal) {
// Expected value using for loop index is just an approximation since the
// time left in the profile doesn't increase linearly at the endpoints
@@ -217,14 +218,14 @@ TEST(TrapezoidProfileTest, TimingBeforeNegativeGoal) {
0.75_mps_sq};
frc::TrapezoidProfile<units::meter>::State goal{-2_m, 0_mps};
frc::TrapezoidProfile<units::meter> profile{constraints, goal};
auto state = profile.Calculate(kDt);
frc::TrapezoidProfile<units::meter> profile{constraints};
auto state = profile.Calculate(kDt, goal,
frc::TrapezoidProfile<units::meter>::State{});
auto predictedTimeLeft = profile.TimeLeftUntil(-1_m);
bool reachedGoal = false;
for (int i = 0; i < 400; i++) {
profile = frc::TrapezoidProfile<units::meter>(constraints, goal, state);
state = profile.Calculate(kDt);
state = profile.Calculate(kDt, goal, state);
if (!reachedGoal &&
(units::math::abs(state.velocity + 1_mps) < 10e-5_mps)) {
EXPECT_NEAR(unit_cast<double>(predictedTimeLeft), i / 100.0, 2e-2);