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[wpimath] Make public final values in feedforwards private and add getters (#6851)

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This commit is contained in:
Joseph Eng
2024-07-20 07:01:56 -07:00
committed by GitHub
parent d827c84c5e
commit b4d42d8980
22 changed files with 288 additions and 94 deletions
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8
wpimath/src/test/java/edu/wpi/first/math/controller/proto/ArmFeedforwardProtoTest.java
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@@ -19,9 +19,9 @@ class ArmFeedforwardProtoTest {
ArmFeedforward.proto.pack(proto, DATA);
ArmFeedforward data = ArmFeedforward.proto.unpack(proto);
assertEquals(DATA.ks, data.ks);
assertEquals(DATA.kg, data.kg);
assertEquals(DATA.kv, data.kv);
assertEquals(DATA.ka, data.ka);
assertEquals(DATA.getKs(), data.getKs());
assertEquals(DATA.getKg(), data.getKg());
assertEquals(DATA.getKv(), data.getKv());
assertEquals(DATA.getKa(), data.getKa());
}
}

8
wpimath/src/test/java/edu/wpi/first/math/controller/proto/ElevatorFeedforwardProtoTest.java
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@@ -19,9 +19,9 @@ class ElevatorFeedforwardProtoTest {
ElevatorFeedforward.proto.pack(proto, DATA);
ElevatorFeedforward data = ElevatorFeedforward.proto.unpack(proto);
assertEquals(DATA.ks, data.ks);
assertEquals(DATA.kg, data.kg);
assertEquals(DATA.kv, data.kv);
assertEquals(DATA.ka, data.ka);
assertEquals(DATA.getKs(), data.getKs());
assertEquals(DATA.getKg(), data.getKg());
assertEquals(DATA.getKv(), data.getKv());
assertEquals(DATA.getKa(), data.getKa());
}
}

8
wpimath/src/test/java/edu/wpi/first/math/controller/struct/ArmFeedforwardStructTest.java
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@@ -22,9 +22,9 @@ class ArmFeedforwardStructTest {
buffer.rewind();
ArmFeedforward data = ArmFeedforward.struct.unpack(buffer);
assertEquals(DATA.ks, data.ks);
assertEquals(DATA.kg, data.kg);
assertEquals(DATA.kv, data.kv);
assertEquals(DATA.ka, data.ka);
assertEquals(DATA.getKs(), data.getKs());
assertEquals(DATA.getKg(), data.getKg());
assertEquals(DATA.getKv(), data.getKv());
assertEquals(DATA.getKa(), data.getKa());
}
}

8
wpimath/src/test/java/edu/wpi/first/math/controller/struct/ElevatorFeedforwardStructTest.java
View File

@@ -22,9 +22,9 @@ class ElevatorFeedforwardStructTest {
buffer.rewind();
ElevatorFeedforward data = ElevatorFeedforward.struct.unpack(buffer);
assertEquals(DATA.ks, data.ks);
assertEquals(DATA.kg, data.kg);
assertEquals(DATA.kv, data.kv);
assertEquals(DATA.ka, data.ka);
assertEquals(DATA.getKs(), data.getKs());
assertEquals(DATA.getKg(), data.getKg());
assertEquals(DATA.getKv(), data.getKv());
assertEquals(DATA.getKa(), data.getKa());
}
}

8
wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp
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@@ -26,8 +26,8 @@ TEST(ArmFeedforwardProtoTest, Roundtrip) {
ProtoType::Pack(proto, kExpectedData);
ArmFeedforward unpacked_data = ProtoType::Unpack(*proto);
EXPECT_EQ(kExpectedData.kS.value(), unpacked_data.kS.value());
EXPECT_EQ(kExpectedData.kG.value(), unpacked_data.kG.value());
EXPECT_EQ(kExpectedData.kV.value(), unpacked_data.kV.value());
EXPECT_EQ(kExpectedData.kA.value(), unpacked_data.kA.value());
EXPECT_EQ(kExpectedData.GetKs().value(), unpacked_data.GetKs().value());
EXPECT_EQ(kExpectedData.GetKg().value(), unpacked_data.GetKg().value());
EXPECT_EQ(kExpectedData.GetKv().value(), unpacked_data.GetKv().value());
EXPECT_EQ(kExpectedData.GetKa().value(), unpacked_data.GetKa().value());
}

8
wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp
View File

@@ -27,8 +27,8 @@ TEST(ElevatorFeedforwardProtoTest, Roundtrip) {
ProtoType::Pack(proto, kExpectedData);
ElevatorFeedforward unpacked_data = ProtoType::Unpack(*proto);
EXPECT_EQ(kExpectedData.kS.value(), unpacked_data.kS.value());
EXPECT_EQ(kExpectedData.kG.value(), unpacked_data.kG.value());
EXPECT_EQ(kExpectedData.kV.value(), unpacked_data.kV.value());
EXPECT_EQ(kExpectedData.kA.value(), unpacked_data.kA.value());
EXPECT_EQ(kExpectedData.GetKs().value(), unpacked_data.GetKs().value());
EXPECT_EQ(kExpectedData.GetKg().value(), unpacked_data.GetKg().value());
EXPECT_EQ(kExpectedData.GetKv().value(), unpacked_data.GetKv().value());
EXPECT_EQ(kExpectedData.GetKa().value(), unpacked_data.GetKa().value());
}

8
wpimath/src/test/native/cpp/controller/struct/ArmFeedforwardStructTest.cpp
View File

@@ -26,8 +26,8 @@ TEST(ArmFeedforwardStructTest, Roundtrip) {
ArmFeedforward unpacked_data = StructType::Unpack(buffer);
EXPECT_EQ(kExpectedData.kS.value(), unpacked_data.kS.value());
EXPECT_EQ(kExpectedData.kG.value(), unpacked_data.kG.value());
EXPECT_EQ(kExpectedData.kV.value(), unpacked_data.kV.value());
EXPECT_EQ(kExpectedData.kA.value(), unpacked_data.kA.value());
EXPECT_EQ(kExpectedData.GetKs().value(), unpacked_data.GetKs().value());
EXPECT_EQ(kExpectedData.GetKg().value(), unpacked_data.GetKg().value());
EXPECT_EQ(kExpectedData.GetKv().value(), unpacked_data.GetKv().value());
EXPECT_EQ(kExpectedData.GetKa().value(), unpacked_data.GetKa().value());
}

8
wpimath/src/test/native/cpp/controller/struct/ElevatorFeedforwardStructTest.cpp
View File

@@ -27,8 +27,8 @@ TEST(ElevatorFeedforwardStructTest, Roundtrip) {
ElevatorFeedforward unpacked_data = StructType::Unpack(buffer);
EXPECT_EQ(kExpectedData.kS.value(), unpacked_data.kS.value());
EXPECT_EQ(kExpectedData.kG.value(), unpacked_data.kG.value());
EXPECT_EQ(kExpectedData.kV.value(), unpacked_data.kV.value());
EXPECT_EQ(kExpectedData.kA.value(), unpacked_data.kA.value());
EXPECT_EQ(kExpectedData.GetKs().value(), unpacked_data.GetKs().value());
EXPECT_EQ(kExpectedData.GetKg().value(), unpacked_data.GetKg().value());
EXPECT_EQ(kExpectedData.GetKv().value(), unpacked_data.GetKv().value());
EXPECT_EQ(kExpectedData.GetKa().value(), unpacked_data.GetKa().value());
}