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SCRIPT namespace replacements

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This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
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100
wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
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@@ -8,11 +8,11 @@
#include "wpi/math/system/plant/LinearSystemId.hpp"
#include "wpi/units/math.hpp"
namespace frc {
namespace wpi::math {
TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
constexpr auto trackwidth = 0.9_m;
constexpr units::second_t dt = 5_ms;
constexpr wpi::units::second_t dt = 5_ms;
constexpr auto maxA = 2_mps_sq;
constexpr auto maxAlpha = 2_rad_per_s_sq;
@@ -31,15 +31,15 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
{
Vectord<2> accels =
plant.A() * xAccelLimiter + plant.B() * Vectord<2>{12.0, 12.0};
units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
EXPECT_GT(units::math::abs(a), maxA);
wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
EXPECT_GT(wpi::units::math::abs(a), maxA);
}
{
Vectord<2> accels =
plant.A() * xAccelLimiter + plant.B() * Vectord<2>{-12.0, 12.0};
units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
wpi::units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
trackwidth.value()};
EXPECT_GT(units::math::abs(alpha), maxAlpha);
EXPECT_GT(wpi::units::math::abs(alpha), maxAlpha);
}
// Forward
@@ -47,19 +47,19 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
units::meters_per_second_t{xAccelLimiter(1)},
units::volt_t{u(0)}, units::volt_t{u(1)});
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
Vectord<2> accels =
plant.A() * xAccelLimiter + plant.B() * Vectord<2>{left, right};
units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
wpi::units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
trackwidth.value()};
EXPECT_LE(units::math::abs(a), maxA);
EXPECT_LE(units::math::abs(alpha), maxAlpha);
EXPECT_LE(wpi::units::math::abs(a), maxA);
EXPECT_LE(wpi::units::math::abs(alpha), maxAlpha);
}
// Backward
@@ -67,19 +67,19 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
units::meters_per_second_t{xAccelLimiter(1)},
units::volt_t{u(0)}, units::volt_t{u(1)});
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
Vectord<2> accels =
plant.A() * xAccelLimiter + plant.B() * Vectord<2>{left, right};
units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
wpi::units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
trackwidth.value()};
EXPECT_LE(units::math::abs(a), maxA);
EXPECT_LE(units::math::abs(alpha), maxAlpha);
EXPECT_LE(wpi::units::math::abs(a), maxA);
EXPECT_LE(wpi::units::math::abs(alpha), maxAlpha);
}
// Rotate CCW
@@ -87,25 +87,25 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
units::meters_per_second_t{xAccelLimiter(1)},
units::volt_t{u(0)}, units::volt_t{u(1)});
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
Vectord<2> accels =
plant.A() * xAccelLimiter + plant.B() * Vectord<2>{left, right};
units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
wpi::units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
trackwidth.value()};
EXPECT_LE(units::math::abs(a), maxA);
EXPECT_LE(units::math::abs(alpha), maxAlpha);
EXPECT_LE(wpi::units::math::abs(a), maxA);
EXPECT_LE(wpi::units::math::abs(alpha), maxAlpha);
}
}
TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
constexpr auto trackwidth = 0.9_m;
constexpr units::second_t dt = 5_ms;
constexpr wpi::units::second_t dt = 5_ms;
using Kv_t = decltype(1_V / 1_mps);
using Ka_t = decltype(1_V / 1_mps_sq);
@@ -126,9 +126,9 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
units::meters_per_second_t{xAccelLimiter(1)},
units::volt_t{u(0)}, units::volt_t{u(1)});
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
@@ -143,9 +143,9 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
units::meters_per_second_t{xAccelLimiter(1)},
units::volt_t{u(0)}, units::volt_t{u(1)});
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
@@ -160,9 +160,9 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
units::meters_per_second_t{xAccelLimiter(1)},
units::volt_t{u(0)}, units::volt_t{u(1)});
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
@@ -173,7 +173,7 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
TEST(DifferentialDriveAccelerationLimiterTest, SeparateMinMaxLowLimits) {
constexpr auto trackwidth = 0.9_m;
constexpr units::second_t dt = 5_ms;
constexpr wpi::units::second_t dt = 5_ms;
constexpr auto minA = -1_mps_sq;
constexpr auto maxA = 2_mps_sq;
constexpr auto maxAlpha = 2_rad_per_s_sq;
@@ -193,9 +193,9 @@ TEST(DifferentialDriveAccelerationLimiterTest, SeparateMinMaxLowLimits) {
{
Vectord<2> accels =
plant.A() * xAccelLimiter + plant.B() * Vectord<2>{12.0, 12.0};
units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
EXPECT_GT(units::math::abs(a), maxA);
EXPECT_GT(units::math::abs(a), -minA);
wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
EXPECT_GT(wpi::units::math::abs(a), maxA);
EXPECT_GT(wpi::units::math::abs(a), -minA);
}
// a should always be within [minA, maxA]
@@ -204,15 +204,15 @@ TEST(DifferentialDriveAccelerationLimiterTest, SeparateMinMaxLowLimits) {
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
units::meters_per_second_t{xAccelLimiter(1)},
units::volt_t{u(0)}, units::volt_t{u(1)});
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
Vectord<2> accels =
plant.A() * xAccelLimiter + plant.B() * Vectord<2>{left, right};
units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
EXPECT_GE(a, minA);
EXPECT_LE(a, maxA);
}
@@ -222,15 +222,15 @@ TEST(DifferentialDriveAccelerationLimiterTest, SeparateMinMaxLowLimits) {
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
units::meters_per_second_t{xAccelLimiter(1)},
units::volt_t{u(0)}, units::volt_t{u(1)});
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
Vectord<2> accels =
plant.A() * xAccelLimiter + plant.B() * Vectord<2>{left, right};
units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
EXPECT_GE(a, minA);
EXPECT_LE(a, maxA);
}
@@ -254,4 +254,4 @@ TEST(DifferentialDriveAccelerationLimiterTest, MinAccelGreaterThanMaxAccel) {
std::invalid_argument);
}
} // namespace frc
} // namespace wpi::math