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[wpiutil] Remove old InterpolatingTreeMap location (#6560)

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This commit is contained in:
Isaac Turner
2024-04-30 12:05:12 +08:00
committed by GitHub
parent 70417f64da
commit c71db8ea9c
2 changed files with 0 additions and 239 deletions
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104
wpiutil/src/main/java/edu/wpi/first/util/InterpolatingTreeMap.java
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// 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.util;
import java.util.TreeMap;
/**
* Interpolating Tree Maps are used to get values at points that are not defined by making a guess
* from points that are defined. This uses linear interpolation.
*
* @param <K> Key type.
* @param <V> Value type.
* @deprecated Use {@link edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap} instead
*/
@Deprecated(forRemoval = true, since = "2024")
public class InterpolatingTreeMap<K extends Number, V extends Number> {
private final TreeMap<K, V> m_map = new TreeMap<>();
/** Default constructor. */
public InterpolatingTreeMap() {}
/**
* Inserts a key-value pair.
*
* @param key The key.
* @param value The value.
*/
public void put(K key, V value) {
m_map.put(key, value);
}
/**
* Returns the value associated with a given key.
*
* <p>If there's no matching key, the value returned will be a linear interpolation between the
* keys before and after the provided one.
*
* @param key The key.
* @return The value associated with the given key.
*/
public Double get(K key) {
V val = m_map.get(key);
if (val == null) {
K ceilingKey = m_map.ceilingKey(key);
K floorKey = m_map.floorKey(key);
if (ceilingKey == null && floorKey == null) {
return null;
}
if (ceilingKey == null) {
return m_map.get(floorKey).doubleValue();
}
if (floorKey == null) {
return m_map.get(ceilingKey).doubleValue();
}
V floor = m_map.get(floorKey);
V ceiling = m_map.get(ceilingKey);
return interpolate(floor, ceiling, inverseInterpolate(ceilingKey, key, floorKey));
} else {
return val.doubleValue();
}
}
/** Clears the contents. */
public void clear() {
m_map.clear();
}
/**
* Return the value interpolated between val1 and val2 by the interpolant d.
*
* @param val1 The lower part of the interpolation range.
* @param val2 The upper part of the interpolation range.
* @param d The interpolant in the range [0, 1].
* @return The interpolated value.
*/
private double interpolate(V val1, V val2, double d) {
double dydx = val2.doubleValue() - val1.doubleValue();
return dydx * d + val1.doubleValue();
}
/**
* Return where within interpolation range [0, 1] q is between down and up.
*
* @param up Upper part of interpolation range.
* @param q Query.
* @param down Lower part of interpolation range.
* @return Interpolant in range [0, 1].
*/
private double inverseInterpolate(K up, K q, K down) {
double upperToLower = up.doubleValue() - down.doubleValue();
if (upperToLower <= 0) {
return 0.0;
}
double queryToLower = q.doubleValue() - down.doubleValue();
if (queryToLower <= 0) {
return 0.0;
}
return queryToLower / upperToLower;
}
}

135
wpiutil/src/test/java/edu/wpi/first/util/InterpolatingTreeMapTest.java
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// 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.util;
import static org.junit.jupiter.api.Assertions.assertEquals;
import org.junit.jupiter.api.Test;
@SuppressWarnings("removal")
class InterpolatingTreeMapTest {
@Test
void testInterpolationDouble() {
InterpolatingTreeMap<Double, Double> table = new InterpolatingTreeMap<>();
table.put(125.0, 450.0);
table.put(200.0, 510.0);
table.put(268.0, 525.0);
table.put(312.0, 550.0);
table.put(326.0, 650.0);
// Key below minimum gives the smallest value
assertEquals(450.0, table.get(100.0));
// Minimum key gives exact value
assertEquals(450.0, table.get(125.0));
// Key gives interpolated value
assertEquals(480.0, table.get(162.5));
// Key at right of interpolation range gives exact value
assertEquals(510.0, table.get(200.0));
// Maximum key gives exact value
assertEquals(650.0, table.get(326.0));
// Key above maximum gives largest value
assertEquals(650.0, table.get(400.0));
}
@Test
void testInterpolationClear() {
InterpolatingTreeMap<Double, Double> table = new InterpolatingTreeMap<>();
table.put(125.0, 450.0);
table.put(200.0, 510.0);
table.put(268.0, 525.0);
table.put(312.0, 550.0);
table.put(326.0, 650.0);
// Key below minimum gives the smallest value
assertEquals(450.0, table.get(100.0));
// Minimum key gives exact value
assertEquals(450.0, table.get(125.0));
// Key gives interpolated value
assertEquals(480.0, table.get(162.5));
// Key at right of interpolation range gives exact value
assertEquals(510.0, table.get(200.0));
// Maximum key gives exact value
assertEquals(650.0, table.get(326.0));
// Key above maximum gives largest value
assertEquals(650.0, table.get(400.0));
table.clear();
table.put(100.0, 250.0);
table.put(200.0, 500.0);
assertEquals(375.0, table.get(150.0));
}
@Test
void testInterpolationInteger() {
InterpolatingTreeMap<Integer, Integer> table = new InterpolatingTreeMap<>();
table.put(125, 450);
table.put(200, 510);
table.put(268, 525);
table.put(312, 550);
table.put(326, 650);
// Key below minimum gives the smallest value
assertEquals(450.0, table.get(100));
// Minimum key gives exact value
assertEquals(450.0, table.get(125));
// Key gives interpolated value
assertEquals(479.6, table.get(162));
// Key at right of interpolation range gives exact value
assertEquals(510.0, table.get(200));
// Maximum key gives exact value
assertEquals(650.0, table.get(326));
// Key above maximum gives largest value
assertEquals(650.0, table.get(400));
}
@Test
void testInterpolationLong() {
InterpolatingTreeMap<Long, Long> table = new InterpolatingTreeMap<>();
table.put(125L, 450L);
table.put(200L, 510L);
table.put(268L, 525L);
table.put(312L, 550L);
table.put(326L, 650L);
// Key below minimum gives the smallest value
assertEquals(450.0, table.get(100L));
// Minimum key gives exact value
assertEquals(450.0, table.get(125L));
// Key gives interpolated value
assertEquals(479.6, table.get(162L));
// Key at right of interpolation range gives exact value
assertEquals(510.0, table.get(200L));
// Maximum key gives exact value
assertEquals(650.0, table.get(326L));
// Key above maximum gives largest value
assertEquals(650.0, table.get(400L));
}
}