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[wpimath] Use units for LinearSystemId Kv and Ka (#2852)

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This commit is contained in:
Prateek Machiraju
2020-11-12 01:33:04 -05:00
committed by GitHub
parent f24f282442
commit ac3c336b98
6 changed files with 72 additions and 23 deletions
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6
wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
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@@ -53,7 +53,8 @@ TEST(LinearSystemIDTest, IdentifyPositionSystem) {
// x-dot = [0 1 | 0 -kv/ka] x = [0 | 1/ka] u
double kv = 1.0;
double ka = 0.5;
auto model = frc::LinearSystemId::IdentifyPositionSystem(kv, ka);
auto model = frc::LinearSystemId::IdentifyPositionSystem<units::meter>(
kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
ASSERT_TRUE(model.A().isApprox(frc::MakeMatrix<2, 2>(0.0, 1.0, 0.0, -kv / ka),
0.001));
@@ -66,7 +67,8 @@ TEST(LinearSystemIDTest, IdentifyVelocitySystem) {
// x-dot = -kv/ka * v + 1/ka \cdot V
double kv = 1.0;
double ka = 0.5;
auto model = frc::LinearSystemId::IdentifyVelocitySystem(kv, ka);
auto model = frc::LinearSystemId::IdentifyVelocitySystem<units::meter>(
kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
ASSERT_TRUE(model.A().isApprox(frc::MakeMatrix<1, 1>(-kv / ka), 0.001));
ASSERT_TRUE(model.B().isApprox(frc::MakeMatrix<1, 1>(1.0 / ka), 0.001));