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

Browse Source 
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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4
wpimath/src/test/native/cpp/LinearFilterNoiseTest.cpp
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@@ -8,7 +8,7 @@
#include <memory>
#include <random>
#include <wpi/math>
#include <wpi/numbers>
#include "gtest/gtest.h"
#include "units/time.h"
@@ -36,7 +36,7 @@ std::ostream& operator<<(std::ostream& os,
}
static double GetData(double t) {
return 100.0 * std::sin(2.0 * wpi::math::pi * t);
return 100.0 * std::sin(2.0 * wpi::numbers::pi * t);
}
class LinearFilterNoiseTest

6
wpimath/src/test/native/cpp/LinearFilterOutputTest.cpp
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@@ -9,7 +9,7 @@
#include <memory>
#include <random>
#include <wpi/math>
#include <wpi/numbers>
#include "gtest/gtest.h"
#include "units/time.h"
@@ -52,8 +52,8 @@ std::ostream& operator<<(std::ostream& os,
}
static double GetData(double t) {
return 100.0 * std::sin(2.0 * wpi::math::pi * t) +
20.0 * std::cos(50.0 * wpi::math::pi * t);
return 100.0 * std::sin(2.0 * wpi::numbers::pi * t) +
20.0 * std::cos(50.0 * wpi::numbers::pi * t);
}
static double GetPulseData(double t) {

27
wpimath/src/test/native/cpp/MathUtilTest.cpp
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@@ -51,19 +51,20 @@ TEST(MathUtilTest, InputModulus) {
TEST(MathUtilTest, AngleModulus) {
EXPECT_UNITS_EQ(
frc::AngleModulus(units::radian_t{-2000 * wpi::math::pi / 180}),
units::radian_t{160 * wpi::math::pi / 180});
EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t{358 * wpi::math::pi / 180}),
units::radian_t{-2 * wpi::math::pi / 180});
EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t{2.0 * wpi::math::pi}),
frc::AngleModulus(units::radian_t{-2000 * wpi::numbers::pi / 180}),
units::radian_t{160 * wpi::numbers::pi / 180});
EXPECT_UNITS_EQ(
frc::AngleModulus(units::radian_t{358 * wpi::numbers::pi / 180}),
units::radian_t{-2 * wpi::numbers::pi / 180});
EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t{2.0 * wpi::numbers::pi}),
0_rad);
EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(5 * wpi::math::pi)),
units::radian_t(wpi::math::pi));
EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(-5 * wpi::math::pi)),
units::radian_t(wpi::math::pi));
EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(wpi::math::pi / 2)),
units::radian_t(wpi::math::pi / 2));
EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(-wpi::math::pi / 2)),
units::radian_t(-wpi::math::pi / 2));
EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(5 * wpi::numbers::pi)),
units::radian_t(wpi::numbers::pi));
EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(-5 * wpi::numbers::pi)),
units::radian_t(wpi::numbers::pi));
EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(wpi::numbers::pi / 2)),
units::radian_t(wpi::numbers::pi / 2));
EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(-wpi::numbers::pi / 2)),
units::radian_t(-wpi::numbers::pi / 2));
}

16
wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp
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@@ -4,15 +4,15 @@
#include <gtest/gtest.h>
#include <wpi/math>
#include <wpi/numbers>
#include "Eigen/Core"
#include "frc/estimator/AngleStatistics.h"
TEST(AngleStatisticsTest, TestMean) {
Eigen::Matrix<double, 3, 3> sigmas;
sigmas << 1, 1.2, 0, 359 * wpi::math::pi / 180, 3 * wpi::math::pi / 180, 0, 1,
2, 0;
sigmas << 1, 1.2, 0, 359 * wpi::numbers::pi / 180, 3 * wpi::numbers::pi / 180,
0, 1, 2, 0;
// Weights need to produce the mean of the sigmas
Eigen::Vector3d weights{};
weights.fill(1.0 / sigmas.cols());
@@ -22,16 +22,16 @@ TEST(AngleStatisticsTest, TestMean) {
}
TEST(AngleStatisticsTest, TestResidual) {
Eigen::Vector3d a(1, 1 * wpi::math::pi / 180, 2);
Eigen::Vector3d b(1, 359 * wpi::math::pi / 180, 1);
Eigen::Vector3d a(1, 1 * wpi::numbers::pi / 180, 2);
Eigen::Vector3d b(1, 359 * wpi::numbers::pi / 180, 1);
EXPECT_TRUE(frc::AngleResidual<3>(a, b, 1).isApprox(
Eigen::Vector3d(0, 2 * wpi::math::pi / 180, 1)));
Eigen::Vector3d(0, 2 * wpi::numbers::pi / 180, 1)));
}
TEST(AngleStatisticsTest, TestAdd) {
Eigen::Vector3d a(1, 1 * wpi::math::pi / 180, 2);
Eigen::Vector3d b(1, 359 * wpi::math::pi / 180, 1);
Eigen::Vector3d a(1, 1 * wpi::numbers::pi / 180, 2);
Eigen::Vector3d b(1, 359 * wpi::numbers::pi / 180, 1);
EXPECT_TRUE(frc::AngleAdd<3>(a, b, 1).isApprox(Eigen::Vector3d(2, 0, 3)));
}

12
wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
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@@ -4,7 +4,7 @@
#include <cmath>
#include <wpi/math>
#include <wpi/numbers>
#include "frc/geometry/Rotation2d.h"
#include "gtest/gtest.h"
@@ -14,8 +14,8 @@ using namespace frc;
static constexpr double kEpsilon = 1E-9;
TEST(Rotation2dTest, RadiansToDegrees) {
const Rotation2d rot1{units::radian_t(wpi::math::pi / 3)};
const Rotation2d rot2{units::radian_t(wpi::math::pi / 4)};
const Rotation2d rot1{units::radian_t(wpi::numbers::pi / 3)};
const Rotation2d rot2{units::radian_t(wpi::numbers::pi / 4)};
EXPECT_NEAR(rot1.Degrees().to<double>(), 60.0, kEpsilon);
EXPECT_NEAR(rot2.Degrees().to<double>(), 45.0, kEpsilon);
@@ -25,15 +25,15 @@ TEST(Rotation2dTest, DegreesToRadians) {
const auto rot1 = Rotation2d(45.0_deg);
const auto rot2 = Rotation2d(30.0_deg);
EXPECT_NEAR(rot1.Radians().to<double>(), wpi::math::pi / 4.0, kEpsilon);
EXPECT_NEAR(rot2.Radians().to<double>(), wpi::math::pi / 6.0, kEpsilon);
EXPECT_NEAR(rot1.Radians().to<double>(), wpi::numbers::pi / 4.0, kEpsilon);
EXPECT_NEAR(rot2.Radians().to<double>(), wpi::numbers::pi / 6.0, kEpsilon);
}
TEST(Rotation2dTest, RotateByFromZero) {
const Rotation2d zero;
auto sum = zero + Rotation2d(90.0_deg);
EXPECT_NEAR(sum.Radians().to<double>(), wpi::math::pi / 2.0, kEpsilon);
EXPECT_NEAR(sum.Radians().to<double>(), wpi::numbers::pi / 2.0, kEpsilon);
EXPECT_NEAR(sum.Degrees().to<double>(), 90.0, kEpsilon);
}

10
wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp
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@@ -4,7 +4,7 @@
#include <cmath>
#include <wpi/math>
#include <wpi/numbers>
#include "frc/geometry/Pose2d.h"
#include "gtest/gtest.h"
@@ -23,8 +23,8 @@ TEST(Twist2dTest, Straight) {
}
TEST(Twist2dTest, QuarterCircle) {
const Twist2d quarterCircle{5.0_m / 2.0 * wpi::math::pi, 0_m,
units::radian_t(wpi::math::pi / 2.0)};
const Twist2d quarterCircle{5.0_m / 2.0 * wpi::numbers::pi, 0_m,
units::radian_t(wpi::numbers::pi / 2.0)};
const auto quarterCirclePose = Pose2d().Exp(quarterCircle);
EXPECT_NEAR(quarterCirclePose.X().to<double>(), 5.0, kEpsilon);
@@ -60,7 +60,7 @@ TEST(Twist2dTest, Pose2dLog) {
const auto twist = start.Log(end);
EXPECT_NEAR(twist.dx.to<double>(), 5 / 2.0 * wpi::math::pi, kEpsilon);
EXPECT_NEAR(twist.dx.to<double>(), 5 / 2.0 * wpi::numbers::pi, kEpsilon);
EXPECT_NEAR(twist.dy.to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(twist.dtheta.to<double>(), wpi::math::pi / 2.0, kEpsilon);
EXPECT_NEAR(twist.dtheta.to<double>(), wpi::numbers::pi / 2.0, kEpsilon);
}

18
wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
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@@ -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/kinematics/ChassisSpeeds.h"
#include "frc/kinematics/DifferentialDriveKinematics.h"
@@ -55,22 +55,24 @@ TEST(DifferentialDriveKinematics, ForwardKinematicsForStraightLine) {
TEST(DifferentialDriveKinematics, InverseKinematicsForRotateInPlace) {
const DifferentialDriveKinematics kinematics{0.381_m * 2};
const ChassisSpeeds chassisSpeeds{0.0_mps, 0.0_mps,
units::radians_per_second_t{wpi::math::pi}};
const ChassisSpeeds chassisSpeeds{
0.0_mps, 0.0_mps, units::radians_per_second_t{wpi::numbers::pi}};
const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
EXPECT_NEAR(wheelSpeeds.left.to<double>(), -0.381 * wpi::math::pi, kEpsilon);
EXPECT_NEAR(wheelSpeeds.right.to<double>(), +0.381 * wpi::math::pi, kEpsilon);
EXPECT_NEAR(wheelSpeeds.left.to<double>(), -0.381 * wpi::numbers::pi,
kEpsilon);
EXPECT_NEAR(wheelSpeeds.right.to<double>(), +0.381 * wpi::numbers::pi,
kEpsilon);
}
TEST(DifferentialDriveKinematics, ForwardKinematicsForRotateInPlace) {
const DifferentialDriveKinematics kinematics{0.381_m * 2};
const DifferentialDriveWheelSpeeds wheelSpeeds{
units::meters_per_second_t(+0.381 * wpi::math::pi),
units::meters_per_second_t(-0.381 * wpi::math::pi)};
units::meters_per_second_t(+0.381 * wpi::numbers::pi),
units::meters_per_second_t(-0.381 * wpi::numbers::pi)};
const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.to<double>(), -wpi::math::pi, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.to<double>(), -wpi::numbers::pi, kEpsilon);
}

4
wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp
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@@ -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/kinematics/DifferentialDriveKinematics.h"
#include "frc/kinematics/DifferentialDriveOdometry.h"
@@ -16,7 +16,7 @@ TEST(DifferentialDriveOdometry, EncoderDistances) {
DifferentialDriveOdometry odometry{Rotation2d(45_deg)};
const auto& pose = odometry.Update(Rotation2d(135_deg), 0_m,
units::meter_t(5 * wpi::math::pi));
units::meter_t(5 * wpi::numbers::pi));
EXPECT_NEAR(pose.X().to<double>(), 5.0, kEpsilon);
EXPECT_NEAR(pose.Y().to<double>(), 5.0, kEpsilon);

6
wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
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@@ -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/geometry/Translation2d.h"
#include "frc/kinematics/MecanumDriveKinematics.h"
@@ -61,7 +61,7 @@ TEST_F(MecanumDriveKinematicsTest, StrafeForwardKinematics) {
TEST_F(MecanumDriveKinematicsTest, RotationInverseKinematics) {
ChassisSpeeds speeds{0_mps, 0_mps,
units::radians_per_second_t(2 * wpi::math::pi)};
units::radians_per_second_t(2 * wpi::numbers::pi)};
auto moduleStates = kinematics.ToWheelSpeeds(speeds);
EXPECT_NEAR(-150.79644737, moduleStates.frontLeft.to<double>(), 0.1);
@@ -77,7 +77,7 @@ TEST_F(MecanumDriveKinematicsTest, RotationForwardKinematics) {
EXPECT_NEAR(0.0, chassisSpeeds.vx.to<double>(), 0.1);
EXPECT_NEAR(0.0, chassisSpeeds.vy.to<double>(), 0.1);
EXPECT_NEAR(2 * wpi::math::pi, chassisSpeeds.omega.to<double>(), 0.1);
EXPECT_NEAR(2 * wpi::numbers::pi, chassisSpeeds.omega.to<double>(), 0.1);
}
TEST_F(MecanumDriveKinematicsTest, MixedRotationTranslationInverseKinematics) {

10
wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
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@@ -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/geometry/Translation2d.h"
#include "frc/kinematics/SwerveDriveKinematics.h"
@@ -75,7 +75,7 @@ TEST_F(SwerveDriveKinematicsTest, StraightStrafeForwardKinematics) {
TEST_F(SwerveDriveKinematicsTest, TurnInPlaceInverseKinematics) {
ChassisSpeeds speeds{0_mps, 0_mps,
units::radians_per_second_t(2 * wpi::math::pi)};
units::radians_per_second_t(2 * wpi::numbers::pi)};
auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds);
EXPECT_NEAR(fl.speed.to<double>(), 106.63, kEpsilon);
@@ -99,12 +99,12 @@ TEST_F(SwerveDriveKinematicsTest, TurnInPlaceForwardKinematics) {
EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 2 * wpi::math::pi, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 2 * wpi::numbers::pi, kEpsilon);
}
TEST_F(SwerveDriveKinematicsTest, OffCenterCORRotationInverseKinematics) {
ChassisSpeeds speeds{0_mps, 0_mps,
units::radians_per_second_t(2 * wpi::math::pi)};
units::radians_per_second_t(2 * wpi::numbers::pi)};
auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds, m_fl);
EXPECT_NEAR(fl.speed.to<double>(), 0.0, kEpsilon);
@@ -128,7 +128,7 @@ TEST_F(SwerveDriveKinematicsTest, OffCenterCORRotationForwardKinematics) {
EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 75.398, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vy.to<double>(), -75.398, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 2 * wpi::math::pi, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 2 * wpi::numbers::pi, kEpsilon);
}
TEST_F(SwerveDriveKinematicsTest,