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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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62
wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp
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@@ -10,7 +10,7 @@
#include "wpi/math/kinematics/MecanumDriveOdometry.hpp"
#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
using namespace frc;
using namespace wpi::math;
class MecanumDriveOdometryTest : public ::testing::Test {
protected:
@@ -78,33 +78,33 @@ TEST_F(MecanumDriveOdometryTest, GyroAngleReset) {
}
TEST_F(MecanumDriveOdometryTest, AccuracyFacingTrajectory) {
frc::MecanumDriveKinematics kinematics{
frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
wpi::math::MecanumDriveKinematics kinematics{
wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
frc::MecanumDriveWheelPositions wheelPositions;
wpi::math::MecanumDriveWheelPositions wheelPositions;
frc::MecanumDriveOdometry odometry{kinematics, frc::Rotation2d{},
wpi::math::MecanumDriveOdometry odometry{kinematics, wpi::math::Rotation2d{},
wheelPositions};
frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
frc::Pose2d{0_m, 0_m, 135_deg},
frc::Pose2d{-3_m, 0_m, -90_deg},
frc::Pose2d{0_m, 0_m, 45_deg}},
frc::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
wpi::math::Pose2d{0_m, 0_m, 135_deg},
wpi::math::Pose2d{-3_m, 0_m, -90_deg},
wpi::math::Pose2d{0_m, 0_m, 45_deg}},
wpi::math::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
std::default_random_engine generator;
std::normal_distribution<double> distribution(0.0, 1.0);
units::second_t dt = 20_ms;
units::second_t t = 0_s;
wpi::units::second_t dt = 20_ms;
wpi::units::second_t t = 0_s;
double maxError = -std::numeric_limits<double>::max();
double errorSum = 0;
while (t < trajectory.TotalTime()) {
frc::Trajectory::State groundTruthState = trajectory.Sample(t);
wpi::math::Trajectory::State groundTruthState = trajectory.Sample(t);
auto wheelSpeeds = kinematics.ToWheelSpeeds(
{groundTruthState.velocity, 0_mps,
@@ -122,7 +122,7 @@ TEST_F(MecanumDriveOdometryTest, AccuracyFacingTrajectory) {
auto xhat =
odometry.Update(groundTruthState.pose.Rotation() +
frc::Rotation2d{distribution(generator) * 0.05_rad},
wpi::math::Rotation2d{distribution(generator) * 0.05_rad},
wheelPositions);
double error = groundTruthState.pose.Translation()
.Distance(xhat.Translation())
@@ -141,33 +141,33 @@ TEST_F(MecanumDriveOdometryTest, AccuracyFacingTrajectory) {
}
TEST_F(MecanumDriveOdometryTest, AccuracyFacingXAxis) {
frc::MecanumDriveKinematics kinematics{
frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
wpi::math::MecanumDriveKinematics kinematics{
wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
frc::MecanumDriveWheelPositions wheelPositions;
wpi::math::MecanumDriveWheelPositions wheelPositions;
frc::MecanumDriveOdometry odometry{kinematics, frc::Rotation2d{},
wpi::math::MecanumDriveOdometry odometry{kinematics, wpi::math::Rotation2d{},
wheelPositions};
frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
frc::Pose2d{0_m, 0_m, 135_deg},
frc::Pose2d{-3_m, 0_m, -90_deg},
frc::Pose2d{0_m, 0_m, 45_deg}},
frc::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
wpi::math::Pose2d{0_m, 0_m, 135_deg},
wpi::math::Pose2d{-3_m, 0_m, -90_deg},
wpi::math::Pose2d{0_m, 0_m, 45_deg}},
wpi::math::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
std::default_random_engine generator;
std::normal_distribution<double> distribution(0.0, 1.0);
units::second_t dt = 20_ms;
units::second_t t = 0_s;
wpi::units::second_t dt = 20_ms;
wpi::units::second_t t = 0_s;
double maxError = -std::numeric_limits<double>::max();
double errorSum = 0;
while (t < trajectory.TotalTime()) {
frc::Trajectory::State groundTruthState = trajectory.Sample(t);
wpi::math::Trajectory::State groundTruthState = trajectory.Sample(t);
auto wheelSpeeds = kinematics.ToWheelSpeeds(
{groundTruthState.velocity * groundTruthState.pose.Rotation().Cos(),
@@ -185,7 +185,7 @@ TEST_F(MecanumDriveOdometryTest, AccuracyFacingXAxis) {
wheelPositions.rearRight += wheelSpeeds.rearRight * dt;
auto xhat = odometry.Update(
frc::Rotation2d{distribution(generator) * 0.05_rad}, wheelPositions);
wpi::math::Rotation2d{distribution(generator) * 0.05_rad}, wheelPositions);
double error = groundTruthState.pose.Translation()
.Distance(xhat.Translation())
.value();