Add Ramsete unicycle controller (#1790)

2026-06-20 00:51:42 +00:00 · 2019-09-29 16:48:12 -07:00
parent b2c2934d05
commit af8ce568d1
5 changed files with 459 additions and 0 deletions
--- a/wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
+++ b/wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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 <wpi/math>
+
+#include "frc/controller/RamseteController.h"
+#include "frc/trajectory/TrajectoryGenerator.h"
+#include "gtest/gtest.h"
+
+#define EXPECT_NEAR_UNITS(val1, val2, eps) \
+  EXPECT_LE(units::math::abs(val1 - val2), eps)
+
+static constexpr units::meter_t kTolerance{1 / 12.0};
+static constexpr units::radian_t kAngularTolerance{2.0 * wpi::math::pi / 180.0};
+
+units::radian_t boundRadians(units::radian_t value) {
+  while (value > units::radian_t{wpi::math::pi}) {
+    value -= units::radian_t{wpi::math::pi * 2};
+  }
+  while (value <= units::radian_t{-wpi::math::pi}) {
+    value += units::radian_t{wpi::math::pi * 2};
+  }
+  return value;
+}
+
+TEST(RamseteControllerTest, ReachesReference) {
+  frc::RamseteController controller{2.0, 0.7};
+  frc::Pose2d robotPose{2.7_m, 23_m, frc::Rotation2d{0_deg}};
+
+  auto waypoints = std::vector{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
+                               frc::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
+  auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
+      waypoints, {}, 0_mps, 0_mps, 8.8_mps, 0.1_mps_sq, false);
+
+  constexpr auto kDt = 0.02_s;
+  auto totalTime = trajectory.TotalTime();
+  for (size_t i = 0; i < (totalTime / kDt).to<double>(); ++i) {
+    auto state = trajectory.Sample(kDt * i);
+    auto [vx, vy, omega] = controller.Calculate(robotPose, state);
+    static_cast<void>(vy);
+
+    robotPose = robotPose.Exp(frc::Twist2d{vx * kDt, 0_m, omega * kDt});
+  }
+
+  auto& endPose = trajectory.States().back().pose;
+  EXPECT_NEAR_UNITS(endPose.Translation().X(), robotPose.Translation().X(),
+                    kTolerance);
+  EXPECT_NEAR_UNITS(endPose.Translation().Y(), robotPose.Translation().Y(),
+                    kTolerance);
+  EXPECT_NEAR_UNITS(boundRadians(endPose.Rotation().Radians() -
+                                 robotPose.Rotation().Radians()),
+                    0_rad, kAngularTolerance);
+}