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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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59
wpilibc/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.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/MecanumDriveOdometry.h"
#include "gtest/gtest.h"
using namespace frc;
class MecanumDriveOdometryTest : public ::testing::Test {
protected:
Translation2d m_fl{12_m, 12_m};
Translation2d m_fr{12_m, -12_m};
Translation2d m_bl{-12_m, 12_m};
Translation2d m_br{-12_m, -12_m};
MecanumDriveKinematics kinematics{m_fl, m_fr, m_bl, m_br};
MecanumDriveOdometry odometry{kinematics};
};
TEST_F(MecanumDriveOdometryTest, MultipleConsecutiveUpdates) {
odometry.ResetPosition(Pose2d());
MecanumDriveWheelSpeeds wheelSpeeds{3.536_mps, 3.536_mps, 3.536_mps,
3.536_mps};
odometry.UpdateWithTime(0_s, Rotation2d(), wheelSpeeds);
auto secondPose = odometry.UpdateWithTime(0.0_s, Rotation2d(), wheelSpeeds);
EXPECT_NEAR(secondPose.Translation().X().to<double>(), 0.0, 0.01);
EXPECT_NEAR(secondPose.Translation().Y().to<double>(), 0.0, 0.01);
EXPECT_NEAR(secondPose.Rotation().Radians().to<double>(), 0.0, 0.01);
}
TEST_F(MecanumDriveOdometryTest, TwoIterations) {
odometry.ResetPosition(Pose2d());
MecanumDriveWheelSpeeds speeds{3.536_mps, 3.536_mps, 3.536_mps, 3.536_mps};
odometry.UpdateWithTime(0_s, Rotation2d(), MecanumDriveWheelSpeeds{});
auto pose = odometry.UpdateWithTime(0.10_s, Rotation2d(), speeds);
EXPECT_NEAR(pose.Translation().X().to<double>(), 0.5, 0.01);
EXPECT_NEAR(pose.Translation().Y().to<double>(), 0.0, 0.01);
EXPECT_NEAR(pose.Rotation().Radians().to<double>(), 0.0, 0.01);
}
TEST_F(MecanumDriveOdometryTest, Test90DegreeTurn) {
odometry.ResetPosition(Pose2d());
MecanumDriveWheelSpeeds speeds{-13.328_mps, 39.986_mps, -13.329_mps,
39.986_mps};
odometry.UpdateWithTime(0_s, Rotation2d(), MecanumDriveWheelSpeeds{});
auto pose = odometry.UpdateWithTime(1_s, Rotation2d(90_deg), speeds);
EXPECT_NEAR(pose.Translation().X().to<double>(), 12, 0.01);
EXPECT_NEAR(pose.Translation().Y().to<double>(), 12, 0.01);
EXPECT_NEAR(pose.Rotation().Degrees().to<double>(), 90.0, 0.01);
}