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[wpimath] Move Java classes to edu.wpi.first.math (#3316)

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This commit is contained in:
Noam Zaks
2021-05-01 15:53:30 +00:00
committed by GitHub
parent 6b50323b07
commit c8ff626fe2
212 changed files with 918 additions and 921 deletions
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3
wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ColorTest.java → wpilibj/src/test/java/edu/wpi/first/math/util/ColorTest.java
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@@ -2,12 +2,13 @@
// 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.wpilibj.util;
package edu.wpi.first.math.util;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.params.provider.Arguments.arguments;
import edu.wpi.first.wpilibj.util.Color;
import java.util.stream.Stream;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;

3
wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ErrorMessagesTest.java → wpilibj/src/test/java/edu/wpi/first/math/util/ErrorMessagesTest.java
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@@ -2,13 +2,14 @@
// 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.wpilibj.util;
package edu.wpi.first.math.util;
import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertThrows;
import edu.wpi.first.wpilibj.UtilityClassTest;
import edu.wpi.first.wpilibj.util.ErrorMessages;
import org.junit.jupiter.api.Test;
class ErrorMessagesTest extends UtilityClassTest<ErrorMessages> {

18
wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/HolonomicDriveControllerTest.java
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@@ -7,15 +7,15 @@ package edu.wpi.first.wpilibj.controller;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Twist2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpiutil.math.MathUtil;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Twist2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import java.util.ArrayList;
import java.util.List;
import org.junit.jupiter.api.Test;

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDControllerTest.java
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@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.controller;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import org.junit.jupiter.api.Test;
class ProfiledPIDControllerTest {

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDInputOutputTest.java
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@@ -7,7 +7,7 @@ package edu.wpi.first.wpilibj.controller;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;

62
wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/RamseteControllerTest.java
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@@ -1,62 +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.wpilibj.controller;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Twist2d;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpiutil.math.MathUtil;
import java.util.ArrayList;
import org.junit.jupiter.api.Test;
class RamseteControllerTest {
private static final double kTolerance = 1 / 12.0;
private static final double kAngularTolerance = Math.toRadians(2);
@Test
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
void testReachesReference() {
final var controller = new RamseteController(2.0, 0.7);
var robotPose = new Pose2d(2.7, 23.0, Rotation2d.fromDegrees(0.0));
final var waypoints = new ArrayList<Pose2d>();
waypoints.add(new Pose2d(2.75, 22.521, new Rotation2d(0)));
waypoints.add(new Pose2d(24.73, 19.68, new Rotation2d(5.846)));
var config = new TrajectoryConfig(8.8, 0.1);
final var trajectory = TrajectoryGenerator.generateTrajectory(waypoints, config);
final double kDt = 0.02;
final var totalTime = trajectory.getTotalTimeSeconds();
for (int i = 0; i < (totalTime / kDt); ++i) {
var state = trajectory.sample(kDt * i);
var output = controller.calculate(robotPose, state);
robotPose =
robotPose.exp(
new Twist2d(output.vxMetersPerSecond * kDt, 0, output.omegaRadiansPerSecond * kDt));
}
final var states = trajectory.getStates();
final var endPose = states.get(states.size() - 1).poseMeters;
// Java lambdas require local variables referenced from a lambda expression
// must be final or effectively final.
final var finalRobotPose = robotPose;
assertAll(
() -> assertEquals(endPose.getX(), finalRobotPose.getX(), kTolerance),
() -> assertEquals(endPose.getY(), finalRobotPose.getY(), kTolerance),
() ->
assertEquals(
0.0,
MathUtil.angleModulus(
endPose.getRotation().getRadians() - finalRobotPose.getRotation().getRadians()),
kAngularTolerance));
}
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSimTest.java
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@@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.AnalogEncoder;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import org.junit.jupiter.api.Test;
public class AnalogEncoderSimTest {

36
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
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@@ -7,24 +7,24 @@ package edu.wpi.first.wpilibj.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.controller.LinearPlantInversionFeedforward;
import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.system.NumericalIntegration;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.Matrix;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.Vector;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N7;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.Vector;
import edu.wpi.first.math.controller.LinearPlantInversionFeedforward;
import edu.wpi.first.math.controller.RamseteController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N7;
import edu.wpi.first.math.system.NumericalIntegration;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.math.trajectory.constraint.DifferentialDriveKinematicsConstraint;
import edu.wpi.first.math.util.Units;
import java.util.List;
import org.junit.jupiter.api.Test;

8
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
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@@ -7,14 +7,14 @@ package edu.wpi.first.wpilibj.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
import org.junit.jupiter.api.Test;
public class ElevatorSimTest {

6
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java
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@@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.util.Units;
import org.junit.jupiter.api.Test;
public class SingleJointedArmSimTest {