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Add JSON support for Trajectories (#2025)

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carbotaniuman
2019-11-02 13:35:03 -05:00
committed by Peter Johnson
parent 2b6811eddb
commit ed30d5d40e
23 changed files with 581 additions and 12 deletions
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wpilibc/src/test/native/cpp/trajectory/TrajectoryJsonTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "frc/trajectory/TrajectoryConfig.h"
#include "frc/trajectory/TrajectoryUtil.h"
#include "gtest/gtest.h"
#include "trajectory/TestTrajectory.h"
using namespace frc;
TEST(TrajectoryJsonTest, DeserializeMatches) {
TrajectoryConfig config{12_fps, 12_fps_sq};
auto trajectory = TestTrajectory::GetTrajectory(config);
Trajectory deserialized;
EXPECT_NO_THROW(deserialized = TrajectoryUtil::DeserializeTrajectory(
TrajectoryUtil::SerializeTrajectory(trajectory)));
EXPECT_EQ(trajectory.States(), deserialized.States());
}