Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[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
Download Patch File Download Diff File Expand all files Collapse all files

18
wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.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/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
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/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
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/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
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/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,