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[wpimath] Add PoseEstimator.sampleAt() (#6426)

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This commit is contained in:
Joseph Eng
2024-04-27 21:03:37 -07:00
committed by GitHub
parent 962bf7ff10
commit cdfa2ece6f
10 changed files with 404 additions and 1 deletions
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51
wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
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@@ -18,6 +18,7 @@ import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import java.util.List;
import java.util.Optional;
import java.util.Random;
import java.util.TreeMap;
import java.util.function.Function;
@@ -304,4 +305,54 @@ class DifferentialDrivePoseEstimatorTest {
estimator.getEstimatedPosition().getRotation().getRadians(),
"Incorrect Final Theta");
}
@Test
void testSampleAt() {
var kinematics = new DifferentialDriveKinematics(1);
var estimator =
new DifferentialDrivePoseEstimator(
kinematics,
new Rotation2d(),
0,
0,
new Pose2d(),
VecBuilder.fill(1, 1, 1),
VecBuilder.fill(1, 1, 1));
// Returns empty when null
assertEquals(Optional.empty(), estimator.sampleAt(1));
// Add odometry measurements, but don't fill up the buffer
// Add a tiny tolerance for the upper bound because of floating point rounding error
for (double time = 1; time <= 2 + 1e-9; time += 0.02) {
estimator.updateWithTime(time, new Rotation2d(), time, time);
}
// Sample at an added time
assertEquals(Optional.of(new Pose2d(1.02, 0, new Rotation2d())), estimator.sampleAt(1.02));
// Sample between updates (test interpolation)
assertEquals(Optional.of(new Pose2d(1.01, 0, new Rotation2d())), estimator.sampleAt(1.01));
// Sampling before the oldest value returns the oldest value
assertEquals(Optional.of(new Pose2d(1, 0, new Rotation2d())), estimator.sampleAt(0.5));
// Sampling after the newest value returns the newest value
assertEquals(Optional.of(new Pose2d(2, 0, new Rotation2d())), estimator.sampleAt(2.5));
// Add a vision measurement after the odometry measurements (while keeping all of the old
// odometry measurements)
estimator.addVisionMeasurement(new Pose2d(2, 0, new Rotation2d(1)), 2.2);
// Make sure nothing changed (except the newest value)
assertEquals(Optional.of(new Pose2d(1.02, 0, new Rotation2d())), estimator.sampleAt(1.02));
assertEquals(Optional.of(new Pose2d(1.01, 0, new Rotation2d())), estimator.sampleAt(1.01));
assertEquals(Optional.of(new Pose2d(1, 0, new Rotation2d())), estimator.sampleAt(0.5));
// Add a vision measurement before the odometry measurements that's still in the buffer
estimator.addVisionMeasurement(new Pose2d(1, 0.2, new Rotation2d()), 0.9);
// Everything should be the same except Y is 0.1 (halfway between 0 and 0.2)
assertEquals(Optional.of(new Pose2d(1.02, 0.1, new Rotation2d())), estimator.sampleAt(1.02));
assertEquals(Optional.of(new Pose2d(1.01, 0.1, new Rotation2d())), estimator.sampleAt(1.01));
assertEquals(Optional.of(new Pose2d(1, 0.1, new Rotation2d())), estimator.sampleAt(0.5));
assertEquals(Optional.of(new Pose2d(2, 0.1, new Rotation2d())), estimator.sampleAt(2.5));
}
}

56
wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
View File

@@ -19,6 +19,7 @@ import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import java.util.List;
import java.util.Optional;
import java.util.Random;
import java.util.TreeMap;
import java.util.function.Function;
@@ -321,4 +322,59 @@ class MecanumDrivePoseEstimatorTest {
estimator.getEstimatedPosition().getRotation().getRadians(),
"Incorrect Final Theta");
}
@Test
void testSampleAt() {
var kinematics =
new MecanumDriveKinematics(
new Translation2d(1, 1),
new Translation2d(-1, 1),
new Translation2d(1, -1),
new Translation2d(-1, -1));
var estimator =
new MecanumDrivePoseEstimator(
kinematics,
new Rotation2d(),
new MecanumDriveWheelPositions(),
new Pose2d(),
VecBuilder.fill(1, 1, 1),
VecBuilder.fill(1, 1, 1));
// Returns empty when null
assertEquals(Optional.empty(), estimator.sampleAt(1));
// Add odometry measurements, but don't fill up the buffer
// Add a tiny tolerance for the upper bound because of floating point rounding error
for (double time = 1; time <= 2 + 1e-9; time += 0.02) {
var wheelPositions = new MecanumDriveWheelPositions(time, time, time, time);
estimator.updateWithTime(time, new Rotation2d(), wheelPositions);
}
// Sample at an added time
assertEquals(Optional.of(new Pose2d(1.02, 0, new Rotation2d())), estimator.sampleAt(1.02));
// Sample between updates (test interpolation)
assertEquals(Optional.of(new Pose2d(1.01, 0, new Rotation2d())), estimator.sampleAt(1.01));
// Sampling before the oldest value returns the oldest value
assertEquals(Optional.of(new Pose2d(1, 0, new Rotation2d())), estimator.sampleAt(0.5));
// Sampling after the newest value returns the newest value
assertEquals(Optional.of(new Pose2d(2, 0, new Rotation2d())), estimator.sampleAt(2.5));
// Add a vision measurement after the odometry measurements (while keeping all of the old
// odometry measurements)
estimator.addVisionMeasurement(new Pose2d(2, 0, new Rotation2d(1)), 2.2);
// Make sure nothing changed (except the newest value)
assertEquals(Optional.of(new Pose2d(1.02, 0, new Rotation2d())), estimator.sampleAt(1.02));
assertEquals(Optional.of(new Pose2d(1.01, 0, new Rotation2d())), estimator.sampleAt(1.01));
assertEquals(Optional.of(new Pose2d(1, 0, new Rotation2d())), estimator.sampleAt(0.5));
// Add a vision measurement before the odometry measurements that's still in the buffer
estimator.addVisionMeasurement(new Pose2d(1, 0.2, new Rotation2d()), 0.9);
// Everything should be the same except Y is 0.1 (halfway between 0 and 0.2)
assertEquals(Optional.of(new Pose2d(1.02, 0.1, new Rotation2d())), estimator.sampleAt(1.02));
assertEquals(Optional.of(new Pose2d(1.01, 0.1, new Rotation2d())), estimator.sampleAt(1.01));
assertEquals(Optional.of(new Pose2d(1, 0.1, new Rotation2d())), estimator.sampleAt(0.5));
assertEquals(Optional.of(new Pose2d(2, 0.1, new Rotation2d())), estimator.sampleAt(2.5));
}
}

67
wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
View File

@@ -19,6 +19,7 @@ import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import java.util.List;
import java.util.Optional;
import java.util.Random;
import java.util.TreeMap;
import java.util.function.Function;
@@ -355,4 +356,70 @@ class SwerveDrivePoseEstimatorTest {
estimator.getEstimatedPosition().getRotation().getRadians(),
"Incorrect Final Theta");
}
@Test
void testSampleAt() {
var kinematics =
new SwerveDriveKinematics(
new Translation2d(1, 1),
new Translation2d(-1, 1),
new Translation2d(1, -1),
new Translation2d(-1, -1));
var estimator =
new SwerveDrivePoseEstimator(
kinematics,
new Rotation2d(),
new SwerveModulePosition[] {
new SwerveModulePosition(),
new SwerveModulePosition(),
new SwerveModulePosition(),
new SwerveModulePosition()
},
new Pose2d(),
VecBuilder.fill(1, 1, 1),
VecBuilder.fill(1, 1, 1));
// Returns empty when null
assertEquals(Optional.empty(), estimator.sampleAt(1));
// Add odometry measurements, but don't fill up the buffer
// Add a tiny tolerance for the upper bound because of floating point rounding error
for (double time = 1; time <= 2 + 1e-9; time += 0.02) {
var wheelPositions =
new SwerveModulePosition[] {
new SwerveModulePosition(time, new Rotation2d()),
new SwerveModulePosition(time, new Rotation2d()),
new SwerveModulePosition(time, new Rotation2d()),
new SwerveModulePosition(time, new Rotation2d())
};
estimator.updateWithTime(time, new Rotation2d(), wheelPositions);
}
// Sample at an added time
assertEquals(Optional.of(new Pose2d(1.02, 0, new Rotation2d())), estimator.sampleAt(1.02));
// Sample between updates (test interpolation)
assertEquals(Optional.of(new Pose2d(1.01, 0, new Rotation2d())), estimator.sampleAt(1.01));
// Sampling before the oldest value returns the oldest value
assertEquals(Optional.of(new Pose2d(1, 0, new Rotation2d())), estimator.sampleAt(0.5));
// Sampling after the newest value returns the newest value
assertEquals(Optional.of(new Pose2d(2, 0, new Rotation2d())), estimator.sampleAt(2.5));
// Add a vision measurement after the odometry measurements (while keeping all of the old
// odometry measurements)
estimator.addVisionMeasurement(new Pose2d(2, 0, new Rotation2d(1)), 2.2);
// Make sure nothing changed (except the newest value)
assertEquals(Optional.of(new Pose2d(1.02, 0, new Rotation2d())), estimator.sampleAt(1.02));
assertEquals(Optional.of(new Pose2d(1.01, 0, new Rotation2d())), estimator.sampleAt(1.01));
assertEquals(Optional.of(new Pose2d(1, 0, new Rotation2d())), estimator.sampleAt(0.5));
// Add a vision measurement before the odometry measurements that's still in the buffer
estimator.addVisionMeasurement(new Pose2d(1, 0.2, new Rotation2d()), 0.9);
// Everything should be the same except Y is 0.1 (halfway between 0 and 0.2)
assertEquals(Optional.of(new Pose2d(1.02, 0.1, new Rotation2d())), estimator.sampleAt(1.02));
assertEquals(Optional.of(new Pose2d(1.01, 0.1, new Rotation2d())), estimator.sampleAt(1.01));
assertEquals(Optional.of(new Pose2d(1, 0.1, new Rotation2d())), estimator.sampleAt(0.5));
assertEquals(Optional.of(new Pose2d(2, 0.1, new Rotation2d())), estimator.sampleAt(2.5));
}
}