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[wpilib] Trajectory: Add MaxVelocity and Region constraints (#2466)

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Co-Authored-By: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Prateek Machiraju
2020-04-12 13:39:43 -04:00
committed by GitHub
parent 212182d991
commit a3a8472b82
12 changed files with 706 additions and 0 deletions
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59
wpilibc/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <vector>
#include <units/units.h>
#include "frc/kinematics/DifferentialDriveKinematics.h"
#include "frc/trajectory/constraint/EllipticalRegionConstraint.h"
#include "frc/trajectory/constraint/MaxVelocityConstraint.h"
#include "gtest/gtest.h"
#include "trajectory/TestTrajectory.h"
using namespace frc;
TEST(EllipticalRegionConstraintTest, Constraint) {
constexpr auto maxVelocity = 2_fps;
auto config = TrajectoryConfig(13_fps, 13_fps_sq);
MaxVelocityConstraint maxVelConstraint(maxVelocity);
EllipticalRegionConstraint regionConstraint(frc::Translation2d{5_ft, 2.5_ft},
10_ft, 5_ft, Rotation2d(180_deg),
maxVelConstraint);
config.AddConstraint(regionConstraint);
auto trajectory = TestTrajectory::GetTrajectory(config);
bool exceededConstraintOutsideRegion = false;
for (auto& point : trajectory.States()) {
auto translation = point.pose.Translation();
if (translation.X() < 10_ft && translation.Y() < 5_ft) {
EXPECT_TRUE(units::math::abs(point.velocity) < maxVelocity + 0.05_mps);
} else if (units::math::abs(point.velocity) >= maxVelocity + 0.05_mps) {
exceededConstraintOutsideRegion = true;
}
}
EXPECT_TRUE(exceededConstraintOutsideRegion);
}
TEST(EllipticalRegionConstraintTest, IsPoseInRegion) {
constexpr auto maxVelocity = 2_fps;
MaxVelocityConstraint maxVelConstraint(maxVelocity);
EllipticalRegionConstraint regionConstraintNoRotation(
frc::Translation2d{1_ft, 1_ft}, 2_ft, 4_ft, Rotation2d(0_deg),
maxVelConstraint);
EXPECT_FALSE(regionConstraintNoRotation.IsPoseInRegion(
frc::Pose2d(2.1_ft, 1_ft, 0_rad)));
EllipticalRegionConstraint regionConstraintWithRotation(
frc::Translation2d{1_ft, 1_ft}, 2_ft, 4_ft, Rotation2d(90_deg),
maxVelConstraint);
EXPECT_TRUE(regionConstraintWithRotation.IsPoseInRegion(
frc::Pose2d(2.1_ft, 1_ft, 0_rad)));
}