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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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42
wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometry3dTest.cpp
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@@ -13,7 +13,7 @@
#include "wpi/math/trajectory/TrajectoryConfig.hpp"
#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
using namespace frc;
using namespace wpi::math;
static constexpr double kEpsilon = 0.01;
@@ -27,17 +27,17 @@ class SwerveDriveOdometry3dTest : public ::testing::Test {
SwerveDriveKinematics<4> m_kinematics{m_fl, m_fr, m_bl, m_br};
SwerveModulePosition zero;
SwerveDriveOdometry3d<4> m_odometry{
m_kinematics, frc::Rotation3d{}, {zero, zero, zero, zero}};
m_kinematics, wpi::math::Rotation3d{}, {zero, zero, zero, zero}};
};
TEST_F(SwerveDriveOdometry3dTest, Initialize) {
SwerveDriveOdometry3d odometry{
m_kinematics,
frc::Rotation3d{},
wpi::math::Rotation3d{},
{zero, zero, zero, zero},
frc::Pose3d{1_m, 2_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 45_deg}}};
wpi::math::Pose3d{1_m, 2_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 45_deg}}};
const frc::Pose3d& pose = odometry.GetPose();
const wpi::math::Pose3d& pose = odometry.GetPose();
EXPECT_NEAR(pose.X().value(), 1, kEpsilon);
EXPECT_NEAR(pose.Y().value(), 2, kEpsilon);
@@ -48,12 +48,12 @@ TEST_F(SwerveDriveOdometry3dTest, Initialize) {
TEST_F(SwerveDriveOdometry3dTest, TwoIterations) {
SwerveModulePosition position{0.5_m, 0_deg};
m_odometry.ResetPosition(frc::Rotation3d{}, {zero, zero, zero, zero},
m_odometry.ResetPosition(wpi::math::Rotation3d{}, {zero, zero, zero, zero},
Pose3d{});
m_odometry.Update(frc::Rotation3d{}, {zero, zero, zero, zero});
m_odometry.Update(wpi::math::Rotation3d{}, {zero, zero, zero, zero});
auto pose = m_odometry.Update(frc::Rotation3d{},
auto pose = m_odometry.Update(wpi::math::Rotation3d{},
{position, position, position, position});
EXPECT_NEAR(0.5, pose.X().value(), kEpsilon);
@@ -68,9 +68,9 @@ TEST_F(SwerveDriveOdometry3dTest, 90DegreeTurn) {
SwerveModulePosition bl{18.85_m, -90_deg};
SwerveModulePosition br{42.15_m, -26.565_deg};
m_odometry.ResetPosition(frc::Rotation3d{}, {zero, zero, zero, zero},
m_odometry.ResetPosition(wpi::math::Rotation3d{}, {zero, zero, zero, zero},
Pose3d{});
auto pose = m_odometry.Update(frc::Rotation3d{0_deg, 0_deg, 90_deg},
auto pose = m_odometry.Update(wpi::math::Rotation3d{0_deg, 0_deg, 90_deg},
{fl, fr, bl, br});
EXPECT_NEAR(12.0, pose.X().value(), kEpsilon);
@@ -80,12 +80,12 @@ TEST_F(SwerveDriveOdometry3dTest, 90DegreeTurn) {
}
TEST_F(SwerveDriveOdometry3dTest, GyroAngleReset) {
m_odometry.ResetPosition(frc::Rotation3d{0_deg, 0_deg, 90_deg},
m_odometry.ResetPosition(wpi::math::Rotation3d{0_deg, 0_deg, 90_deg},
{zero, zero, zero, zero}, Pose3d{});
SwerveModulePosition position{0.5_m, 0_deg};
auto pose = m_odometry.Update(frc::Rotation3d{0_deg, 0_deg, 90_deg},
auto pose = m_odometry.Update(wpi::math::Rotation3d{0_deg, 0_deg, 90_deg},
{position, position, position, position});
EXPECT_NEAR(0.5, pose.X().value(), kEpsilon);
@@ -100,7 +100,7 @@ TEST_F(SwerveDriveOdometry3dTest, AccuracyFacingTrajectory) {
Translation2d{-1_m, -1_m}, Translation2d{-1_m, 1_m}};
SwerveDriveOdometry3d<4> odometry{
kinematics, frc::Rotation3d{}, {zero, zero, zero, zero}};
kinematics, wpi::math::Rotation3d{}, {zero, zero, zero, zero}};
SwerveModulePosition fl;
SwerveModulePosition fr;
@@ -116,8 +116,8 @@ TEST_F(SwerveDriveOdometry3dTest, AccuracyFacingTrajectory) {
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;
@@ -140,8 +140,8 @@ TEST_F(SwerveDriveOdometry3dTest, AccuracyFacingTrajectory) {
br.angle = moduleStates[3].angle;
auto xhat = odometry.Update(
frc::Rotation3d{groundTruthState.pose.Rotation() +
frc::Rotation2d{distribution(generator) * 0.05_rad}},
wpi::math::Rotation3d{groundTruthState.pose.Rotation() +
wpi::math::Rotation2d{distribution(generator) * 0.05_rad}},
{fl, fr, bl, br});
double error = groundTruthState.pose.Translation()
.Distance(xhat.Translation().ToTranslation2d())
@@ -165,7 +165,7 @@ TEST_F(SwerveDriveOdometry3dTest, AccuracyFacingXAxis) {
Translation2d{-1_m, -1_m}, Translation2d{-1_m, 1_m}};
SwerveDriveOdometry3d<4> odometry{
kinematics, frc::Rotation3d{}, {zero, zero, zero, zero}};
kinematics, wpi::math::Rotation3d{}, {zero, zero, zero, zero}};
SwerveModulePosition fl;
SwerveModulePosition fr;
@@ -181,8 +181,8 @@ TEST_F(SwerveDriveOdometry3dTest, AccuracyFacingXAxis) {
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;
@@ -205,7 +205,7 @@ TEST_F(SwerveDriveOdometry3dTest, AccuracyFacingXAxis) {
br.angle = groundTruthState.pose.Rotation();
auto xhat = odometry.Update(
frc::Rotation3d{0_rad, 0_rad, distribution(generator) * 0.05_rad},
wpi::math::Rotation3d{0_rad, 0_rad, distribution(generator) * 0.05_rad},
{fl, fr, bl, br});
double error = groundTruthState.pose.Translation()
.Distance(xhat.Translation().ToTranslation2d())