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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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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);
}