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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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88
wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
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@@ -14,16 +14,16 @@
// Check that for a simple second-order system that we can easily analyze
// analytically,
TEST(DiscretizationTest, DiscretizeA) {
frc::Matrixd<2, 2> contA{{0, 1}, {0, 0}};
wpi::math::Matrixd<2, 2> contA{{0, 1}, {0, 0}};
frc::Vectord<2> x0{1, 1};
frc::Matrixd<2, 2> discA;
wpi::math::Vectord<2> x0{1, 1};
wpi::math::Matrixd<2, 2> discA;
frc::DiscretizeA<2>(contA, 1_s, &discA);
frc::Vectord<2> x1Discrete = discA * x0;
wpi::math::DiscretizeA<2>(contA, 1_s, &discA);
wpi::math::Vectord<2> x1Discrete = discA * x0;
// We now have pos = vel = 1 and accel = 0, which should give us:
frc::Vectord<2> x1Truth{1.0 * x0(0) + 1.0 * x0(1), 0.0 * x0(0) + 1.0 * x0(1)};
wpi::math::Vectord<2> x1Truth{1.0 * x0(0) + 1.0 * x0(1), 0.0 * x0(0) + 1.0 * x0(1)};
EXPECT_EQ(x1Truth, x1Discrete);
}
@@ -31,19 +31,19 @@ TEST(DiscretizationTest, DiscretizeA) {
// Check that for a simple second-order system that we can easily analyze
// analytically,
TEST(DiscretizationTest, DiscretizeAB) {
frc::Matrixd<2, 2> contA{{0, 1}, {0, 0}};
frc::Matrixd<2, 1> contB{0, 1};
wpi::math::Matrixd<2, 2> contA{{0, 1}, {0, 0}};
wpi::math::Matrixd<2, 1> contB{0, 1};
frc::Vectord<2> x0{1, 1};
frc::Vectord<1> u{1};
frc::Matrixd<2, 2> discA;
frc::Matrixd<2, 1> discB;
wpi::math::Vectord<2> x0{1, 1};
wpi::math::Vectord<1> u{1};
wpi::math::Matrixd<2, 2> discA;
wpi::math::Matrixd<2, 1> discB;
frc::DiscretizeAB<2, 1>(contA, contB, 1_s, &discA, &discB);
frc::Vectord<2> x1Discrete = discA * x0 + discB * u;
wpi::math::DiscretizeAB<2, 1>(contA, contB, 1_s, &discA, &discB);
wpi::math::Vectord<2> x1Discrete = discA * x0 + discB * u;
// We now have pos = vel = accel = 1, which should give us:
frc::Vectord<2> x1Truth{1.0 * x0(0) + 1.0 * x0(1) + 0.5 * u(0),
wpi::math::Vectord<2> x1Truth{1.0 * x0(0) + 1.0 * x0(1) + 0.5 * u(0),
0.0 * x0(0) + 1.0 * x0(1) + 1.0 * u(0)};
EXPECT_EQ(x1Truth, x1Discrete);
@@ -53,27 +53,27 @@ TEST(DiscretizationTest, DiscretizeAB) {
// Test that the discrete approximation of Q_d ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
TEST(DiscretizationTest, DiscretizeSlowModelAQ) {
frc::Matrixd<2, 2> contA{{0, 1}, {0, 0}};
frc::Matrixd<2, 2> contQ{{1, 0}, {0, 1}};
wpi::math::Matrixd<2, 2> contA{{0, 1}, {0, 0}};
wpi::math::Matrixd<2, 2> contQ{{1, 0}, {0, 1}};
constexpr units::second_t dt = 1_s;
constexpr wpi::units::second_t dt = 1_s;
// T
// Q_d ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
frc::Matrixd<2, 2> discQIntegrated =
frc::RKDP<std::function<frc::Matrixd<2, 2>(units::second_t,
const frc::Matrixd<2, 2>&)>,
frc::Matrixd<2, 2>>(
[&](units::second_t t, const frc::Matrixd<2, 2>&) {
return frc::Matrixd<2, 2>((contA * t.value()).exp() * contQ *
wpi::math::Matrixd<2, 2> discQIntegrated =
wpi::math::RKDP<std::function<wpi::math::Matrixd<2, 2>(wpi::units::second_t,
const wpi::math::Matrixd<2, 2>&)>,
wpi::math::Matrixd<2, 2>>(
[&](wpi::units::second_t t, const wpi::math::Matrixd<2, 2>&) {
return wpi::math::Matrixd<2, 2>((contA * t.value()).exp() * contQ *
(contA.transpose() * t.value()).exp());
},
0_s, frc::Matrixd<2, 2>::Zero(), dt);
0_s, wpi::math::Matrixd<2, 2>::Zero(), dt);
frc::Matrixd<2, 2> discA;
frc::Matrixd<2, 2> discQ;
frc::DiscretizeAQ<2>(contA, contQ, dt, &discA, &discQ);
wpi::math::Matrixd<2, 2> discA;
wpi::math::Matrixd<2, 2> discQ;
wpi::math::DiscretizeAQ<2>(contA, contQ, dt, &discA, &discQ);
EXPECT_LT((discQIntegrated - discQ).norm(), 1e-10)
<< "Expected these to be nearly equal:\ndiscQ:\n"
@@ -85,27 +85,27 @@ TEST(DiscretizationTest, DiscretizeSlowModelAQ) {
// Test that the discrete approximation of Q_d ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
TEST(DiscretizationTest, DiscretizeFastModelAQ) {
frc::Matrixd<2, 2> contA{{0, 1}, {0, -1406.29}};
frc::Matrixd<2, 2> contQ{{0.0025, 0}, {0, 1}};
wpi::math::Matrixd<2, 2> contA{{0, 1}, {0, -1406.29}};
wpi::math::Matrixd<2, 2> contQ{{0.0025, 0}, {0, 1}};
constexpr units::second_t dt = 5_ms;
constexpr wpi::units::second_t dt = 5_ms;
// T
// Q_d = ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
frc::Matrixd<2, 2> discQIntegrated =
frc::RKDP<std::function<frc::Matrixd<2, 2>(units::second_t,
const frc::Matrixd<2, 2>&)>,
frc::Matrixd<2, 2>>(
[&](units::second_t t, const frc::Matrixd<2, 2>&) {
return frc::Matrixd<2, 2>((contA * t.value()).exp() * contQ *
wpi::math::Matrixd<2, 2> discQIntegrated =
wpi::math::RKDP<std::function<wpi::math::Matrixd<2, 2>(wpi::units::second_t,
const wpi::math::Matrixd<2, 2>&)>,
wpi::math::Matrixd<2, 2>>(
[&](wpi::units::second_t t, const wpi::math::Matrixd<2, 2>&) {
return wpi::math::Matrixd<2, 2>((contA * t.value()).exp() * contQ *
(contA.transpose() * t.value()).exp());
},
0_s, frc::Matrixd<2, 2>::Zero(), dt);
0_s, wpi::math::Matrixd<2, 2>::Zero(), dt);
frc::Matrixd<2, 2> discA;
frc::Matrixd<2, 2> discQ;
frc::DiscretizeAQ<2>(contA, contQ, dt, &discA, &discQ);
wpi::math::Matrixd<2, 2> discA;
wpi::math::Matrixd<2, 2> discQ;
wpi::math::DiscretizeAQ<2>(contA, contQ, dt, &discA, &discQ);
EXPECT_LT((discQIntegrated - discQ).norm(), 1e-3)
<< "Expected these to be nearly equal:\ndiscQ:\n"
@@ -115,10 +115,10 @@ TEST(DiscretizationTest, DiscretizeFastModelAQ) {
// Test that DiscretizeR() works
TEST(DiscretizationTest, DiscretizeR) {
frc::Matrixd<2, 2> contR{{2.0, 0.0}, {0.0, 1.0}};
frc::Matrixd<2, 2> discRTruth{{4.0, 0.0}, {0.0, 2.0}};
wpi::math::Matrixd<2, 2> contR{{2.0, 0.0}, {0.0, 1.0}};
wpi::math::Matrixd<2, 2> discRTruth{{4.0, 0.0}, {0.0, 2.0}};
frc::Matrixd<2, 2> discR = frc::DiscretizeR<2>(contR, 500_ms);
wpi::math::Matrixd<2, 2> discR = wpi::math::DiscretizeR<2>(contR, 500_ms);
EXPECT_LT((discRTruth - discR).norm(), 1e-10)
<< "Expected these to be nearly equal:\ndiscR:\n"