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Fix small bug in SplineHelper (#2061)

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Also add comments for clamped cubic solution.
This commit is contained in:
Oblarg
2019-11-11 01:52:24 -05:00
committed by Peter Johnson
parent 7dc7c71b58
commit e3dd1c5d77
3 changed files with 55 additions and 12 deletions
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16
wpilibj/src/test/java/edu/wpi/first/wpilibj/spline/CubicHermiteSplineTest.java
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@@ -129,4 +129,20 @@ class CubicHermiteSplineTest {
run(start, waypoints, end);
}
@SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
@Test
void testWindyPath() {
final var start = new Pose2d(0, 0, Rotation2d.fromDegrees(0.0));
final ArrayList<Translation2d> waypoints = new ArrayList<>();
waypoints.add(new Translation2d(0.5, 0.5));
waypoints.add(new Translation2d(0.5, 0.5));
waypoints.add(new Translation2d(1.0, 0.0));
waypoints.add(new Translation2d(1.5, 0.5));
waypoints.add(new Translation2d(2.0, 0.0));
waypoints.add(new Translation2d(2.5, 0.5));
final var end = new Pose2d(3.0, 0.0, Rotation2d.fromDegrees(0.0));
run(start, waypoints, end);
}
}