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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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58
wpilibc/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.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/SwerveDriveKinematics.h"
#include "frc/kinematics/SwerveDriveOdometry.h"
#include "gtest/gtest.h"
using namespace frc;
static constexpr double kEpsilon = 0.01;
class SwerveDriveOdometryTest : 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};
SwerveDriveKinematics<4> m_kinematics{m_fl, m_fr, m_bl, m_br};
SwerveDriveOdometry<4> m_odometry{m_kinematics};
};
TEST_F(SwerveDriveOdometryTest, TwoIterations) {
SwerveModuleState state{5_mps, Rotation2d()};
m_odometry.ResetPosition(Pose2d());
m_odometry.UpdateWithTime(0_s, Rotation2d(), SwerveModuleState(),
SwerveModuleState(), SwerveModuleState(),
SwerveModuleState());
auto pose = m_odometry.UpdateWithTime(0.1_s, Rotation2d(), state, state,
state, state);
EXPECT_NEAR(0.5, pose.Translation().X().to<double>(), kEpsilon);
EXPECT_NEAR(0.0, pose.Translation().Y().to<double>(), kEpsilon);
EXPECT_NEAR(0.0, pose.Rotation().Degrees().to<double>(), kEpsilon);
}
TEST_F(SwerveDriveOdometryTest, 90DegreeTurn) {
SwerveModuleState fl{18.85_mps, Rotation2d(90_deg)};
SwerveModuleState fr{42.15_mps, Rotation2d(26.565_deg)};
SwerveModuleState bl{18.85_mps, Rotation2d(-90_deg)};
SwerveModuleState br{42.15_mps, Rotation2d(-26.565_deg)};
SwerveModuleState zero{0_mps, Rotation2d()};
m_odometry.ResetPosition(Pose2d());
m_odometry.UpdateWithTime(0_s, Rotation2d(), zero, zero, zero, zero);
auto pose =
m_odometry.UpdateWithTime(1_s, Rotation2d(90_deg), fl, fr, bl, br);
EXPECT_NEAR(12.0, pose.Translation().X().to<double>(), kEpsilon);
EXPECT_NEAR(12.0, pose.Translation().Y().to<double>(), kEpsilon);
EXPECT_NEAR(90.0, pose.Rotation().Degrees().to<double>(), kEpsilon);
}