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[wpiutil] Deprecate wpi::math constants in favor of wpi::numbers (#3383)

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The constants were moved from std::math to std::numbers before
ratification in C++20.
This commit is contained in:
Tyler Veness
2021-05-26 00:09:36 -07:00
committed by GitHub
parent 393bf23c0c
commit a238cec12b
73 changed files with 322 additions and 284 deletions
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5
wpilibc/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
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@@ -4,7 +4,7 @@
#include <units/math.h>
#include <units/time.h>
#include <wpi/math>
#include <wpi/numbers>
#include "frc/MathUtil.h"
#include "frc/controller/HolonomicDriveController.h"
@@ -15,7 +15,8 @@
EXPECT_LE(units::math::abs(val1 - val2), eps)
static constexpr units::meter_t kTolerance{1 / 12.0};
static constexpr units::radian_t kAngularTolerance{2.0 * wpi::math::pi / 180.0};
static constexpr units::radian_t kAngularTolerance{2.0 * wpi::numbers::pi /
180.0};
TEST(HolonomicDriveControllerTest, ReachesReference) {
frc::HolonomicDriveController controller{

18
wpilibc/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
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@@ -5,7 +5,7 @@
#include <units/angle.h>
#include <units/angular_acceleration.h>
#include <units/angular_velocity.h>
#include <wpi/math>
#include <wpi/numbers>
#include "frc/controller/ProfiledPIDController.h"
#include "gtest/gtest.h"
@@ -40,8 +40,8 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest1) {
TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest2) {
controller->SetP(1);
controller->EnableContinuousInput(-units::radian_t{wpi::math::pi},
units::radian_t{wpi::math::pi});
controller->EnableContinuousInput(-units::radian_t{wpi::numbers::pi},
units::radian_t{wpi::numbers::pi});
static constexpr units::radian_t kSetpoint{-3.4826633343199735};
static constexpr units::radian_t kMeasurement{-3.1352207333939606};
@@ -52,13 +52,13 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest2) {
// Error must be less than half the input range at all times
EXPECT_LT(units::math::abs(controller->GetSetpoint().position - kMeasurement),
units::radian_t{wpi::math::pi});
units::radian_t{wpi::numbers::pi});
}
TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest3) {
controller->SetP(1);
controller->EnableContinuousInput(-units::radian_t{wpi::math::pi},
units::radian_t{wpi::math::pi});
controller->EnableContinuousInput(-units::radian_t{wpi::numbers::pi},
units::radian_t{wpi::numbers::pi});
static constexpr units::radian_t kSetpoint{-3.5176604690006377};
static constexpr units::radian_t kMeasurement{3.1191729343822456};
@@ -69,13 +69,13 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest3) {
// Error must be less than half the input range at all times
EXPECT_LT(units::math::abs(controller->GetSetpoint().position - kMeasurement),
units::radian_t{wpi::math::pi});
units::radian_t{wpi::numbers::pi});
}
TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest4) {
controller->SetP(1);
controller->EnableContinuousInput(0_rad,
units::radian_t{2.0 * wpi::math::pi});
units::radian_t{2.0 * wpi::numbers::pi});
static constexpr units::radian_t kSetpoint{2.78};
static constexpr units::radian_t kMeasurement{3.12};
@@ -86,7 +86,7 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest4) {
// Error must be less than half the input range at all times
EXPECT_LT(units::math::abs(controller->GetSetpoint().position - kMeasurement),
units::radian_t{wpi::math::pi});
units::radian_t{wpi::numbers::pi});
}
TEST_F(ProfiledPIDInputOutputTest, ProportionalGainOutputTest) {

3
wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
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@@ -13,7 +13,8 @@
EXPECT_LE(units::math::abs(val1 - val2), eps)
static constexpr units::meter_t kTolerance{1 / 12.0};
static constexpr units::radian_t kAngularTolerance{2.0 * wpi::math::pi / 180.0};
static constexpr units::radian_t kAngularTolerance{2.0 * wpi::numbers::pi /
180.0};
TEST(RamseteControllerTest, ReachesReference) {
frc::RamseteController controller{2.0, 0.7};

4
wpilibc/src/test/native/cpp/simulation/AnalogEncoderSimTest.cpp
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@@ -4,7 +4,7 @@
#include <hal/HAL.h>
#include <units/math.h>
#include <wpi/math>
#include <wpi/numbers>
#include "frc/AnalogEncoder.h"
#include "frc/AnalogInput.h"
@@ -22,6 +22,6 @@ TEST(AnalogEncoderSimTest, TestBasic) {
encoderSim.SetPosition(180_deg);
EXPECT_NEAR(encoder.Get().to<double>(), 0.5, 1E-8);
EXPECT_NEAR(encoderSim.GetTurns().to<double>(), 0.5, 1E-8);
EXPECT_NEAR(encoderSim.GetPosition().Radians().to<double>(), wpi::math::pi,
EXPECT_NEAR(encoderSim.GetPosition().Radians().to<double>(), wpi::numbers::pi,
1E-8);
}

4
wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
View File

@@ -2,7 +2,7 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <wpi/math>
#include <wpi/numbers>
#include "frc/simulation/SingleJointedArmSim.h"
#include "gtest/gtest.h"
@@ -18,5 +18,5 @@ TEST(SingleJointedArmTest, Disabled) {
}
// The arm should swing down.
EXPECT_NEAR(sim.GetAngle().to<double>(), -wpi::math::pi / 2, 0.01);
EXPECT_NEAR(sim.GetAngle().to<double>(), -wpi::numbers::pi / 2, 0.01);
}