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Add JSON support for Trajectories (#2025)

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This commit is contained in:
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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2
wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGeneratorTest.java
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@@ -23,7 +23,7 @@ import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertTrue;
class TrajectoryGeneratorTest {
static Trajectory getTrajectory(List<TrajectoryConstraint> constraints) {
static Trajectory getTrajectory(List<? extends TrajectoryConstraint> constraints) {
final double maxVelocity = feetToMeters(12.0);
final double maxAccel = feetToMeters(12);

33
wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryJsonTest.java Normal file
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@@ -0,0 +1,33 @@
/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.trajectory;
import java.util.List;
import org.junit.jupiter.api.Test;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertEquals;
public class TrajectoryJsonTest {
@Test
void deserializeMatches() {
var config = List.of(new DifferentialDriveKinematicsConstraint(
new DifferentialDriveKinematics(20), 3));
var trajectory = TrajectoryGeneratorTest.getTrajectory(config);
var deserialized =
assertDoesNotThrow(() ->
TrajectoryUtil.deserializeTrajectory(TrajectoryUtil.serializeTrajectory(trajectory)));
assertEquals(trajectory.getStates(), deserialized.getStates());
}
}