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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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6
wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp
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@@ -32,7 +32,7 @@ class SwerveDriveOdometryTest : public ::testing::Test {
TEST_F(SwerveDriveOdometryTest, TwoIterations) {
SwerveModulePosition position{0.5_m, 0_deg};
m_odometry.ResetPosition(Pose2d{}, 0_rad, {zero, zero, zero, zero});
m_odometry.ResetPosition(0_rad, {zero, zero, zero, zero}, Pose2d{});
m_odometry.Update(0_deg, {zero, zero, zero, zero});
@@ -50,7 +50,7 @@ TEST_F(SwerveDriveOdometryTest, 90DegreeTurn) {
SwerveModulePosition bl{18.85_m, -90_deg};
SwerveModulePosition br{42.15_m, -26.565_deg};
m_odometry.ResetPosition(Pose2d{}, 0_rad, {zero, zero, zero, zero});
m_odometry.ResetPosition(0_rad, {zero, zero, zero, zero}, Pose2d{});
auto pose = m_odometry.Update(90_deg, {fl, fr, bl, br});
EXPECT_NEAR(12.0, pose.X().value(), kEpsilon);
@@ -59,7 +59,7 @@ TEST_F(SwerveDriveOdometryTest, 90DegreeTurn) {
}
TEST_F(SwerveDriveOdometryTest, GyroAngleReset) {
m_odometry.ResetPosition(Pose2d{}, 90_deg, {zero, zero, zero, zero});
m_odometry.ResetPosition(90_deg, {zero, zero, zero, zero}, Pose2d{});
SwerveModulePosition position{0.5_m, 0_deg};