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[wpimath] Remove PathWeaver support (#7813)

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Also rename file load type in glass to "Field Image JSON".
This commit is contained in:
Gold856
2025-02-21 09:43:45 -05:00
committed by GitHub
parent 72bba2491a
commit b39744b562
13 changed files with 4 additions and 534 deletions
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16
wpimath/src/test/java/edu/wpi/first/math/jni/TrajectoryUtilJNITest.java
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@@ -1,16 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.math.jni;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import org.junit.jupiter.api.Test;
public class TrajectoryUtilJNITest {
@Test
public void testLink() {
assertDoesNotThrow(TrajectoryUtilJNI::forceLoad);
}
}

30
wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryJsonTest.java
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@@ -1,30 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.math.trajectory;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.trajectory.constraint.DifferentialDriveKinematicsConstraint;
import java.util.List;
import org.junit.jupiter.api.Test;
class TrajectoryJsonTest {
@Test
void deserializeMatches() {
var config =
List.of(new DifferentialDriveKinematicsConstraint(new DifferentialDriveKinematics(0.5), 3));
var trajectory = TrajectoryGeneratorTest.getTrajectory(config);
var deserialized =
assertDoesNotThrow(
() ->
TrajectoryUtil.deserializeTrajectory(
TrajectoryUtil.serializeTrajectory(trajectory)));
assertEquals(trajectory.getStates(), deserialized.getStates());
}
}

21
wpimath/src/test/native/cpp/trajectory/TrajectoryJsonTest.cpp
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@@ -1,21 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <gtest/gtest.h>
#include "frc/trajectory/TrajectoryConfig.h"
#include "frc/trajectory/TrajectoryUtil.h"
#include "trajectory/TestTrajectory.h"
using namespace frc;
TEST(TrajectoryJsonTest, DeserializeMatches) {
TrajectoryConfig config{12_fps, 12_fps_sq};
auto trajectory = TestTrajectory::GetTrajectory(config);
Trajectory deserialized;
EXPECT_NO_THROW(deserialized = TrajectoryUtil::DeserializeTrajectory(
TrajectoryUtil::SerializeTrajectory(trajectory)));
EXPECT_EQ(trajectory.States(), deserialized.States());
}