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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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76
wpimath/src/test/native/cpp/path/TravelingSalesmanTest.cpp
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@@ -21,12 +21,12 @@
* @param expected The expected cycle.
* @param actual The actual cycle.
*/
bool IsMatchingCycle(std::span<const frc::Pose2d> expected,
std::span<const frc::Pose2d> actual) {
bool IsMatchingCycle(std::span<const wpi::math::Pose2d> expected,
std::span<const wpi::math::Pose2d> actual) {
assert(expected.size() == actual.size());
// Check actual has expected cycle (forward)
wpi::circular_buffer<frc::Pose2d> actualBufferForward{expected.size()};
wpi::util::circular_buffer<wpi::math::Pose2d> actualBufferForward{expected.size()};
for (size_t i = 0; i < actual.size(); ++i) {
actualBufferForward.push_back(actual[i % actual.size()]);
}
@@ -36,7 +36,7 @@ bool IsMatchingCycle(std::span<const frc::Pose2d> expected,
}
// Check actual has expected cycle (reverse)
wpi::circular_buffer<frc::Pose2d> actualBufferReverse{expected.size()};
wpi::util::circular_buffer<wpi::math::Pose2d> actualBufferReverse{expected.size()};
for (size_t i = 0; i < actual.size(); ++i) {
actualBufferReverse.push_front(actual[(1 + i) % actual.size()]);
}
@@ -56,15 +56,15 @@ TEST(TravelingSalesmanTest, FiveLengthStaticPathWithDistanceCost) {
// ...................
// ....3.....1........
// ...................
wpi::array<frc::Pose2d, 5> poses{
frc::Pose2d{3_m, 3_m, 0_rad}, frc::Pose2d{11_m, 5_m, 0_rad},
frc::Pose2d{9_m, 2_m, 0_rad}, frc::Pose2d{5_m, 5_m, 0_rad},
frc::Pose2d{14_m, 3_m, 0_rad}};
wpi::util::array<wpi::math::Pose2d, 5> poses{
wpi::math::Pose2d{3_m, 3_m, 0_rad}, wpi::math::Pose2d{11_m, 5_m, 0_rad},
wpi::math::Pose2d{9_m, 2_m, 0_rad}, wpi::math::Pose2d{5_m, 5_m, 0_rad},
wpi::math::Pose2d{14_m, 3_m, 0_rad}};
frc::TravelingSalesman traveler;
wpi::array<frc::Pose2d, 5> solution = traveler.Solve(poses, 500);
wpi::math::TravelingSalesman traveler;
wpi::util::array<wpi::math::Pose2d, 5> solution = traveler.Solve(poses, 500);
wpi::array<frc::Pose2d, 5> expected{poses[0], poses[2], poses[4], poses[1],
wpi::util::array<wpi::math::Pose2d, 5> expected{poses[0], poses[2], poses[4], poses[1],
poses[3]};
EXPECT_TRUE(IsMatchingCycle(expected, solution));
@@ -77,17 +77,17 @@ TEST(TravelingSalesmanTest, FiveLengthDynamicPathWithDistanceCost) {
// ...................
// ....3.....1........
// ...................
wpi::array<frc::Pose2d, 5> poses{
frc::Pose2d{3_m, 3_m, 0_rad}, frc::Pose2d{11_m, 5_m, 0_rad},
frc::Pose2d{9_m, 2_m, 0_rad}, frc::Pose2d{5_m, 5_m, 0_rad},
frc::Pose2d{14_m, 3_m, 0_rad}};
wpi::util::array<wpi::math::Pose2d, 5> poses{
wpi::math::Pose2d{3_m, 3_m, 0_rad}, wpi::math::Pose2d{11_m, 5_m, 0_rad},
wpi::math::Pose2d{9_m, 2_m, 0_rad}, wpi::math::Pose2d{5_m, 5_m, 0_rad},
wpi::math::Pose2d{14_m, 3_m, 0_rad}};
frc::TravelingSalesman traveler;
std::vector<frc::Pose2d> solution =
traveler.Solve(std::span<const frc::Pose2d>{poses}, 500);
wpi::math::TravelingSalesman traveler;
std::vector<wpi::math::Pose2d> solution =
traveler.Solve(std::span<const wpi::math::Pose2d>{poses}, 500);
ASSERT_EQ(5u, solution.size());
wpi::array<frc::Pose2d, 5> expected{poses[0], poses[2], poses[4], poses[1],
wpi::util::array<wpi::math::Pose2d, 5> expected{poses[0], poses[2], poses[4], poses[1],
poses[3]};
EXPECT_TRUE(IsMatchingCycle(expected, solution));
@@ -100,17 +100,17 @@ TEST(TravelingSalesmanTest, TenLengthStaticPathWithDistanceCost) {
// .0.................
// .....7..5...8......
// ...................
wpi::array<frc::Pose2d, 10> poses{
frc::Pose2d{2_m, 4_m, 0_rad}, frc::Pose2d{10_m, 1_m, 0_rad},
frc::Pose2d{12_m, 1_m, 0_rad}, frc::Pose2d{7_m, 1_m, 0_rad},
frc::Pose2d{3_m, 2_m, 0_rad}, frc::Pose2d{9_m, 5_m, 0_rad},
frc::Pose2d{5_m, 1_m, 0_rad}, frc::Pose2d{6_m, 5_m, 0_rad},
frc::Pose2d{13_m, 5_m, 0_rad}, frc::Pose2d{14_m, 3_m, 0_rad}};
wpi::util::array<wpi::math::Pose2d, 10> poses{
wpi::math::Pose2d{2_m, 4_m, 0_rad}, wpi::math::Pose2d{10_m, 1_m, 0_rad},
wpi::math::Pose2d{12_m, 1_m, 0_rad}, wpi::math::Pose2d{7_m, 1_m, 0_rad},
wpi::math::Pose2d{3_m, 2_m, 0_rad}, wpi::math::Pose2d{9_m, 5_m, 0_rad},
wpi::math::Pose2d{5_m, 1_m, 0_rad}, wpi::math::Pose2d{6_m, 5_m, 0_rad},
wpi::math::Pose2d{13_m, 5_m, 0_rad}, wpi::math::Pose2d{14_m, 3_m, 0_rad}};
frc::TravelingSalesman traveler;
wpi::array<frc::Pose2d, 10> solution = traveler.Solve(poses, 500);
wpi::math::TravelingSalesman traveler;
wpi::util::array<wpi::math::Pose2d, 10> solution = traveler.Solve(poses, 500);
wpi::array<frc::Pose2d, 10> expected{poses[0], poses[4], poses[6], poses[3],
wpi::util::array<wpi::math::Pose2d, 10> expected{poses[0], poses[4], poses[6], poses[3],
poses[1], poses[2], poses[9], poses[8],
poses[5], poses[7]};
@@ -124,19 +124,19 @@ TEST(TravelingSalesmanTest, TenLengthDynamicPathWithDistanceCost) {
// .0.................
// .....7..5...8......
// ...................
wpi::array<frc::Pose2d, 10> poses{
frc::Pose2d{2_m, 4_m, 0_rad}, frc::Pose2d{10_m, 1_m, 0_rad},
frc::Pose2d{12_m, 1_m, 0_rad}, frc::Pose2d{7_m, 1_m, 0_rad},
frc::Pose2d{3_m, 2_m, 0_rad}, frc::Pose2d{9_m, 5_m, 0_rad},
frc::Pose2d{5_m, 1_m, 0_rad}, frc::Pose2d{6_m, 5_m, 0_rad},
frc::Pose2d{13_m, 5_m, 0_rad}, frc::Pose2d{14_m, 3_m, 0_rad}};
wpi::util::array<wpi::math::Pose2d, 10> poses{
wpi::math::Pose2d{2_m, 4_m, 0_rad}, wpi::math::Pose2d{10_m, 1_m, 0_rad},
wpi::math::Pose2d{12_m, 1_m, 0_rad}, wpi::math::Pose2d{7_m, 1_m, 0_rad},
wpi::math::Pose2d{3_m, 2_m, 0_rad}, wpi::math::Pose2d{9_m, 5_m, 0_rad},
wpi::math::Pose2d{5_m, 1_m, 0_rad}, wpi::math::Pose2d{6_m, 5_m, 0_rad},
wpi::math::Pose2d{13_m, 5_m, 0_rad}, wpi::math::Pose2d{14_m, 3_m, 0_rad}};
frc::TravelingSalesman traveler;
std::vector<frc::Pose2d> solution =
traveler.Solve(std::span<const frc::Pose2d>{poses}, 500);
wpi::math::TravelingSalesman traveler;
std::vector<wpi::math::Pose2d> solution =
traveler.Solve(std::span<const wpi::math::Pose2d>{poses}, 500);
ASSERT_EQ(10u, solution.size());
wpi::array<frc::Pose2d, 10> expected{poses[0], poses[4], poses[6], poses[3],
wpi::util::array<wpi::math::Pose2d, 10> expected{poses[0], poses[4], poses[6], poses[3],
poses[1], poses[2], poses[9], poses[8],
poses[5], poses[7]};