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Clean up unit UDL usage (#6961)

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This commit is contained in:
Tyler Veness
2024-08-14 10:44:00 -07:00
committed by GitHub
parent 70fa41c69e
commit 8e0d9ac805
25 changed files with 57 additions and 77 deletions
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10
wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
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@@ -167,8 +167,8 @@ TEST(DifferentialDrivePoseEstimatorTest, Accuracy) {
state.velocity * state.curvature};
},
[&](frc::Trajectory::State& state) { return state.pose; },
trajectory.InitialPose(), {0_m, 0_m, frc::Rotation2d{45_deg}}, 0.02_s,
0.1_s, 0.25_s, true, false);
trajectory.InitialPose(), {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms,
100_ms, 250_ms, true, false);
}
TEST(DifferentialDrivePoseEstimatorTest, BadInitialPose) {
@@ -205,8 +205,8 @@ TEST(DifferentialDrivePoseEstimatorTest, BadInitialPose) {
state.velocity * state.curvature};
},
[&](frc::Trajectory::State& state) { return state.pose; },
initial_pose, {0_m, 0_m, frc::Rotation2d{45_deg}}, 0.02_s, 0.1_s,
0.25_s, false, false);
initial_pose, {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms, 100_ms,
250_ms, false, false);
}
}
}
@@ -275,7 +275,7 @@ TEST(DifferentialDrivePoseEstimatorTest, TestDiscardStaleVisionMeasurements) {
{0.1, 0.1, 0.1}, {0.45, 0.45, 0.45}};
// Add enough measurements to fill up the buffer
for (auto time = 0.0_s; time < 4_s; time += 0.02_s) {
for (auto time = 0_s; time < 4_s; time += 20_ms) {
estimator.UpdateWithTime(time, frc::Rotation2d{}, 0_m, 0_m);
}