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Add kinematics suite (#1787)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Prateek Machiraju
2019-09-08 00:11:49 -04:00
committed by Peter Johnson
parent 561cbbd144
commit f405582f86
67 changed files with 5060 additions and 0 deletions
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20
wpilibc/src/test/native/cpp/kinematics/ChassisSpeedsTest.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/kinematics/ChassisSpeeds.h"
#include "gtest/gtest.h"
static constexpr double kEpsilon = 1E-9;
TEST(ChassisSpeeds, FieldRelativeConstruction) {
const auto chassisSpeeds = frc::ChassisSpeeds::FromFieldRelativeSpeeds(
1.0_mps, 0.0_mps, 0.5_rad_per_s, frc::Rotation2d(-90.0_deg));
EXPECT_NEAR(0.0, chassisSpeeds.vx.to<double>(), kEpsilon);
EXPECT_NEAR(1.0, chassisSpeeds.vy.to<double>(), kEpsilon);
EXPECT_NEAR(0.5, chassisSpeeds.omega.to<double>(), kEpsilon);
}