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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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46
wpilibc/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.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 <wpi/math>
#include "frc/kinematics/DifferentialDriveKinematics.h"
#include "frc/kinematics/DifferentialDriveOdometry.h"
#include "gtest/gtest.h"
static constexpr double kEpsilon = 1E-9;
using namespace frc;
TEST(DifferentialDriveOdometry, OneIteration) {
DifferentialDriveKinematics kinematics{0.381_m * 2};
DifferentialDriveOdometry odometry{kinematics};
odometry.ResetPosition(Pose2d());
DifferentialDriveWheelSpeeds wheelSpeeds{0.02_mps, 0.02_mps};
odometry.UpdateWithTime(0_s, Rotation2d(), DifferentialDriveWheelSpeeds());
const auto& pose = odometry.UpdateWithTime(1_s, Rotation2d(), wheelSpeeds);
EXPECT_NEAR(pose.Translation().X().to<double>(), 0.02, kEpsilon);
EXPECT_NEAR(pose.Translation().Y().to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(pose.Rotation().Radians().to<double>(), 0.0, kEpsilon);
}
TEST(DifferentialDriveOdometry, QuarterCircle) {
DifferentialDriveKinematics kinematics{0.381_m * 2};
DifferentialDriveOdometry odometry{kinematics};
odometry.ResetPosition(Pose2d());
DifferentialDriveWheelSpeeds wheelSpeeds{
0.0_mps, units::meters_per_second_t(5 * wpi::math::pi)};
odometry.UpdateWithTime(0_s, Rotation2d(), DifferentialDriveWheelSpeeds());
const auto& pose =
odometry.UpdateWithTime(1_s, Rotation2d(90_deg), wheelSpeeds);
EXPECT_NEAR(pose.Translation().X().to<double>(), 5.0, kEpsilon);
EXPECT_NEAR(pose.Translation().Y().to<double>(), 5.0, kEpsilon);
EXPECT_NEAR(pose.Rotation().Degrees().to<double>(), 90.0, kEpsilon);
}