Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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

@@ -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());
}