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[wpimath] Make cost and covariance matrix functions constexpr (#6444)

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This commit is contained in:
Tyler Veness
2024-05-07 15:32:14 -07:00
committed by GitHub
parent bdc7344df1
commit dc00a13d83
2 changed files with 61 additions and 30 deletions
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11
wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp
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@@ -2,16 +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.
#include <array>
#include <gtest/gtest.h>
#include "frc/EigenCore.h"
#include "frc/StateSpaceUtil.h"
#include "frc/system/NumericalIntegration.h"
TEST(StateSpaceUtilTest, CostParameterPack) {
frc::Matrixd<3, 3> mat = frc::MakeCostMatrix(1.0, 2.0, 3.0);
constexpr frc::Matrixd<3, 3> mat = frc::MakeCostMatrix(1.0, 2.0, 3.0);
EXPECT_NEAR(mat(0, 0), 1.0, 1e-3);
EXPECT_NEAR(mat(0, 1), 0.0, 1e-3);
EXPECT_NEAR(mat(0, 2), 0.0, 1e-3);
@@ -24,7 +21,7 @@ TEST(StateSpaceUtilTest, CostParameterPack) {
}
TEST(StateSpaceUtilTest, CostArray) {
frc::Matrixd<3, 3> mat = frc::MakeCostMatrix<3>({1.0, 2.0, 3.0});
constexpr frc::Matrixd<3, 3> mat = frc::MakeCostMatrix<3>({1.0, 2.0, 3.0});
EXPECT_NEAR(mat(0, 0), 1.0, 1e-3);
EXPECT_NEAR(mat(0, 1), 0.0, 1e-3);
EXPECT_NEAR(mat(0, 2), 0.0, 1e-3);
@@ -37,7 +34,7 @@ TEST(StateSpaceUtilTest, CostArray) {
}
TEST(StateSpaceUtilTest, CovParameterPack) {
frc::Matrixd<3, 3> mat = frc::MakeCovMatrix(1.0, 2.0, 3.0);
constexpr frc::Matrixd<3, 3> mat = frc::MakeCovMatrix(1.0, 2.0, 3.0);
EXPECT_NEAR(mat(0, 0), 1.0, 1e-3);
EXPECT_NEAR(mat(0, 1), 0.0, 1e-3);
EXPECT_NEAR(mat(0, 2), 0.0, 1e-3);
@@ -50,7 +47,7 @@ TEST(StateSpaceUtilTest, CovParameterPack) {
}
TEST(StateSpaceUtilTest, CovArray) {
frc::Matrixd<3, 3> mat = frc::MakeCovMatrix<3>({1.0, 2.0, 3.0});
constexpr frc::Matrixd<3, 3> mat = frc::MakeCovMatrix<3>({1.0, 2.0, 3.0});
EXPECT_NEAR(mat(0, 0), 1.0, 1e-3);
EXPECT_NEAR(mat(0, 1), 0.0, 1e-3);
EXPECT_NEAR(mat(0, 2), 0.0, 1e-3);