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[wpimath] Replace MathUtil.clamp() with Java 21 Math.clamp() (#8186)

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This commit is contained in:
ninjadrknss
2025-08-23 06:01:51 -10:00
committed by GitHub
parent 183328384b
commit c280fce147
26 changed files with 41 additions and 98 deletions
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15
wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
View File

@@ -18,21 +18,6 @@ class MathUtilTest extends UtilityClassTest<MathUtil> {
super(MathUtil.class);
}
@Test
void testClamp() {
// int
assertEquals(5, MathUtil.clamp(10, 1, 5));
// double
assertEquals(5.5, MathUtil.clamp(10.5, 1.5, 5.5));
// negative int
assertEquals(-5, MathUtil.clamp(-10, -5, -1));
// negative double
assertEquals(-5.5, MathUtil.clamp(-10.5, -5.5, -1.5));
}
@Test
void testApplyDeadbandUnityScale() {
// < 0

3
wpimath/src/test/java/edu/wpi/first/math/estimator/MerweUKFTest.java
View File

@@ -9,7 +9,6 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.StateSpaceUtil;
@@ -297,7 +296,7 @@ class MerweUKFTest {
return MatBuilder.fill(
Nat.N1(),
Nat.N1(),
MathUtil.clamp(
Math.clamp(
8 * Math.sin(Math.PI * Math.sqrt(2.0) * t)
+ 6 * Math.sin(Math.PI * Math.sqrt(3.0) * t)
+ 4 * Math.sin(Math.PI * Math.sqrt(5.0) * t),

3
wpimath/src/test/java/edu/wpi/first/math/estimator/S3UKFTest.java
View File

@@ -9,7 +9,6 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.StateSpaceUtil;
@@ -297,7 +296,7 @@ class S3UKFTest {
return MatBuilder.fill(
Nat.N1(),
Nat.N1(),
MathUtil.clamp(
Math.clamp(
8 * Math.sin(Math.PI * Math.sqrt(2.0) * t)
+ 6 * Math.sin(Math.PI * Math.sqrt(3.0) * t)
+ 4 * Math.sin(Math.PI * Math.sqrt(5.0) * t),

5
wpimath/src/test/java/edu/wpi/first/math/optimization/SimulatedAnnealingTest.java
View File

@@ -6,7 +6,6 @@ package edu.wpi.first.math.optimization;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.MathUtil;
import java.util.function.DoubleUnaryOperator;
import org.junit.jupiter.api.Test;
@@ -20,7 +19,7 @@ class SimulatedAnnealingTest {
var simulatedAnnealing =
new SimulatedAnnealing<Double>(
2.0,
x -> MathUtil.clamp(x + (Math.random() - 0.5) * stepSize, -3, 3),
x -> Math.clamp(x + (Math.random() - 0.5) * stepSize, -3, 3),
function::applyAsDouble);
double solution = simulatedAnnealing.solve(-1.0, 5000);
@@ -37,7 +36,7 @@ class SimulatedAnnealingTest {
var simulatedAnnealing =
new SimulatedAnnealing<Double>(
2.0,
x -> MathUtil.clamp(x + (Math.random() - 0.5) * stepSize, 0, 7),
x -> Math.clamp(x + (Math.random() - 0.5) * stepSize, 0, 7),
function::applyAsDouble);
double solution = simulatedAnnealing.solve(-1.0, 5000);