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Refactor TrajectoryGenerator (#1972)

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This commit is contained in:
Prateek Machiraju
2019-10-26 12:39:47 -04:00
committed by Peter Johnson
parent 73a30182c3
commit 9440edf2b5
23 changed files with 825 additions and 629 deletions
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9
wpilibc/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp
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@@ -21,12 +21,11 @@ TEST(DifferentialDriveKinematicsConstraintTest, Constraint) {
const auto maxVelocity = 12_fps;
const DifferentialDriveKinematics kinematics{27_in};
std::vector<std::unique_ptr<TrajectoryConstraint>> constraints;
constraints.emplace_back(
std::make_unique<DifferentialDriveKinematicsConstraint>(kinematics,
maxVelocity));
auto config = TrajectoryConfig(12_fps, 12_fps_sq);
config.AddConstraint(
DifferentialDriveKinematicsConstraint(kinematics, maxVelocity));
auto trajectory = TestTrajectory::GetTrajectory(std::move(constraints));
auto trajectory = TestTrajectory::GetTrajectory(config);
units::second_t time = 0_s;
units::second_t dt = 20_ms;