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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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77
wpilibc/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.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 <units/units.h>
#include <wpi/math>
#include "frc/kinematics/ChassisSpeeds.h"
#include "frc/kinematics/DifferentialDriveKinematics.h"
#include "gtest/gtest.h"
using namespace frc;
static constexpr double kEpsilon = 1E-9;
TEST(DifferentialDriveKinematics, InverseKinematicsFromZero) {
const DifferentialDriveKinematics kinematics{0.381_m * 2};
const ChassisSpeeds chassisSpeeds;
const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
EXPECT_NEAR(wheelSpeeds.left.to<double>(), 0, kEpsilon);
EXPECT_NEAR(wheelSpeeds.right.to<double>(), 0, kEpsilon);
}
TEST(DifferentialDriveKinematics, ForwardKinematicsFromZero) {
const DifferentialDriveKinematics kinematics{0.381_m * 2};
const DifferentialDriveWheelSpeeds wheelSpeeds;
const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 0, kEpsilon);
}
TEST(DifferentialDriveKinematics, InverseKinematicsForStraightLine) {
const DifferentialDriveKinematics kinematics{0.381_m * 2};
const ChassisSpeeds chassisSpeeds{3.0_mps, 0_mps, 0_rad_per_s};
const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
EXPECT_NEAR(wheelSpeeds.left.to<double>(), 3, kEpsilon);
EXPECT_NEAR(wheelSpeeds.right.to<double>(), 3, kEpsilon);
}
TEST(DifferentialDriveKinematics, ForwardKinematicsForStraightLine) {
const DifferentialDriveKinematics kinematics{0.381_m * 2};
const DifferentialDriveWheelSpeeds wheelSpeeds{3.0_mps, 3.0_mps};
const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 3, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 0, kEpsilon);
}
TEST(DifferentialDriveKinematics, InverseKinematicsForRotateInPlace) {
const DifferentialDriveKinematics kinematics{0.381_m * 2};
const ChassisSpeeds chassisSpeeds{0.0_mps, 0.0_mps,
units::radians_per_second_t{wpi::math::pi}};
const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
EXPECT_NEAR(wheelSpeeds.left.to<double>(), -0.381 * wpi::math::pi, kEpsilon);
EXPECT_NEAR(wheelSpeeds.right.to<double>(), +0.381 * wpi::math::pi, kEpsilon);
}
TEST(DifferentialDriveKinematics, ForwardKinematicsForRotateInPlace) {
const DifferentialDriveKinematics kinematics{0.381_m * 2};
const DifferentialDriveWheelSpeeds wheelSpeeds{
units::meters_per_second_t(+0.381 * wpi::math::pi),
units::meters_per_second_t(-0.381 * wpi::math::pi)};
const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.to<double>(), -wpi::math::pi, kEpsilon);
}