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[wpimath] Rework odometry APIs to improve feature parity (#4645)

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Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
This commit is contained in:
Jordan McMichael
2022-11-18 23:42:00 -05:00
committed by GitHub
parent e2d49181da
commit 902e8686d3
53 changed files with 266 additions and 157 deletions
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8
wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp
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@@ -27,7 +27,7 @@ class MecanumDriveOdometryTest : public ::testing::Test {
TEST_F(MecanumDriveOdometryTest, MultipleConsecutiveUpdates) {
MecanumDriveWheelPositions wheelDeltas{3.536_m, 3.536_m, 3.536_m, 3.536_m};
odometry.ResetPosition(Pose2d{}, 0_rad, wheelDeltas);
odometry.ResetPosition(0_rad, wheelDeltas, Pose2d{});
odometry.Update(0_deg, wheelDeltas);
auto secondPose = odometry.Update(0_deg, wheelDeltas);
@@ -38,7 +38,7 @@ TEST_F(MecanumDriveOdometryTest, MultipleConsecutiveUpdates) {
}
TEST_F(MecanumDriveOdometryTest, TwoIterations) {
odometry.ResetPosition(Pose2d{}, 0_rad, zero);
odometry.ResetPosition(0_rad, zero, Pose2d{});
MecanumDriveWheelPositions wheelDeltas{0.3536_m, 0.3536_m, 0.3536_m,
0.3536_m};
@@ -51,7 +51,7 @@ TEST_F(MecanumDriveOdometryTest, TwoIterations) {
}
TEST_F(MecanumDriveOdometryTest, 90DegreeTurn) {
odometry.ResetPosition(Pose2d{}, 0_rad, zero);
odometry.ResetPosition(0_rad, zero, Pose2d{});
MecanumDriveWheelPositions wheelDeltas{-13.328_m, 39.986_m, -13.329_m,
39.986_m};
odometry.Update(0_deg, MecanumDriveWheelPositions{});
@@ -63,7 +63,7 @@ TEST_F(MecanumDriveOdometryTest, 90DegreeTurn) {
}
TEST_F(MecanumDriveOdometryTest, GyroAngleReset) {
odometry.ResetPosition(Pose2d{}, 90_deg, zero);
odometry.ResetPosition(90_deg, zero, Pose2d{});
MecanumDriveWheelPositions wheelDeltas{0.3536_m, 0.3536_m, 0.3536_m,
0.3536_m};