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[wpimath] Remove redundant discretization tests from StateSpaceUtilTest (#3689)

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DiscretizationTest already does these.
This commit is contained in:
Tyler Veness
2021-10-29 00:01:41 -07:00
committed by GitHub
parent c0cb545b41
commit b20903960b
1 changed files with 0 additions and 33 deletions
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33
wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java
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@@ -12,7 +12,6 @@ import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.Discretization;
import java.util.ArrayList;
import java.util.List;
import org.ejml.dense.row.MatrixFeatures_DDRM;
@@ -108,38 +107,6 @@ public class StateSpaceUtilTest {
return Math.sqrt(standardDeviation / length);
}
@Test
public void testDiscretizeA() {
var contA = Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
var x0 = VecBuilder.fill(1, 1);
var discA = Discretization.discretizeA(contA, 1.0);
var x1Discrete = discA.times(x0);
// We now have pos = vel = 1 and accel = 0, which should give us:
var x1Truth = VecBuilder.fill(x0.get(0, 0) + 1.0 * x0.get(1, 0), x0.get(1, 0));
assertTrue(x1Truth.isEqual(x1Discrete, 1E-4));
}
@SuppressWarnings("LocalVariableName")
@Test
public void testDiscretizeAB() {
var contA = Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
var contB = VecBuilder.fill(0, 1);
var x0 = VecBuilder.fill(1, 1);
var u = VecBuilder.fill(1);
var abPair = Discretization.discretizeAB(contA, contB, 1.0);
var x1Discrete = abPair.getFirst().times(x0).plus(abPair.getSecond().times(u));
// We now have pos = vel = accel = 1, which should give us:
var x1Truth =
VecBuilder.fill(
x0.get(0, 0) + x0.get(1, 0) + 0.5 * u.get(0, 0), x0.get(0, 0) + u.get(0, 0));
assertTrue(x1Truth.isEqual(x1Discrete, 1E-4));
}
@Test
public void testMatrixExp() {
Matrix<N2, N2> wrappedMatrix = Matrix.eye(Nat.N2());