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[wpimath] ChassisSpeeds fromRelative and discretize methods made instance methods (#7115)

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This commit is contained in:
Nicholas Armstrong
2024-10-22 19:23:17 -04:00
committed by GitHub
parent cbc9264468
commit a3b12b3bd9
8 changed files with 127 additions and 52 deletions
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11
wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java
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@@ -20,10 +20,11 @@ class ChassisSpeedsTest {
@Test
void testDiscretize() {
final var target = new ChassisSpeeds(1.0, 0.0, 0.5);
final var speeds = new ChassisSpeeds(1.0, 0.0, 0.5);
final var duration = 1.0;
final var dt = 0.01;
final var speeds = ChassisSpeeds.discretize(target, duration);
speeds.discretize(duration);
final var twist =
new Twist2d(
speeds.vxMetersPerSecond * dt,
@@ -61,8 +62,8 @@ class ChassisSpeedsTest {
@Test
void testFromFieldRelativeSpeeds() {
final var chassisSpeeds =
ChassisSpeeds.fromFieldRelativeSpeeds(1.0, 0.0, 0.5, Rotation2d.kCW_Pi_2);
final var chassisSpeeds = new ChassisSpeeds(1.0, 0.0, 0.5);
chassisSpeeds.toRobotRelativeSpeeds(Rotation2d.kCW_Pi_2);
assertAll(
() -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
@@ -72,8 +73,8 @@ class ChassisSpeedsTest {
@Test
void testFromRobotRelativeSpeeds() {
final var chassisSpeeds =
ChassisSpeeds.fromRobotRelativeSpeeds(1.0, 0.0, 0.5, Rotation2d.fromDegrees(45.0));
final var chassisSpeeds = new ChassisSpeeds(1.0, 0.0, 0.5);
chassisSpeeds.toFieldRelativeSpeeds(Rotation2d.fromDegrees(45.0));
assertAll(
() -> assertEquals(1.0 / Math.sqrt(2.0), chassisSpeeds.vxMetersPerSecond, kEpsilon),