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[wpimath] Remove print statements from tests (#4977)

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This commit is contained in:
Tyler Veness
2023-01-19 17:00:35 -08:00
committed by GitHub
parent ecba8b99a8
commit f8a45f1558
4 changed files with 0 additions and 48 deletions
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1
wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiterTest.java
View File

@@ -231,7 +231,6 @@ class DifferentialDriveAccelerationLimiterTest {
.times(xAccelLimiter)
.plus(plant.getB().times(new MatBuilder<>(Nat.N2(), Nat.N1()).fill(12.0, 12.0)));
final double a = (accels.get(0, 0) + accels.get(1, 0)) / 2.0;
System.out.println(a);
assertTrue(Math.abs(a) > maxA);
assertTrue(Math.abs(a) > -minA);
}

12
wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
View File

@@ -143,8 +143,6 @@ class DifferentialDrivePoseEstimatorTest {
double t = 0.0;
System.out.print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
final TreeMap<Double, Pose2d> visionUpdateQueue = new TreeMap<>();
double maxError = Double.NEGATIVE_INFINITY;
@@ -191,16 +189,6 @@ class DifferentialDrivePoseEstimatorTest {
leftDistanceMeters,
rightDistanceMeters);
System.out.printf(
"%f, %f, %f, %f, %f, %f, %f\n",
t,
xHat.getX(),
xHat.getY(),
xHat.getRotation().getRadians(),
groundTruthState.poseMeters.getX(),
groundTruthState.poseMeters.getY(),
groundTruthState.poseMeters.getRotation().getRadians());
double error =
groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
if (error > maxError) {

12
wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
View File

@@ -151,8 +151,6 @@ class MecanumDrivePoseEstimatorTest {
double t = 0.0;
System.out.print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
final TreeMap<Double, Pose2d> visionUpdateQueue = new TreeMap<>();
double maxError = Double.NEGATIVE_INFINITY;
@@ -200,16 +198,6 @@ class MecanumDrivePoseEstimatorTest {
.minus(trajectory.getInitialPose().getRotation()),
wheelPositions);
System.out.printf(
"%f, %f, %f, %f, %f, %f, %f\n",
t,
xHat.getX(),
xHat.getY(),
xHat.getRotation().getRadians(),
groundTruthState.poseMeters.getX(),
groundTruthState.poseMeters.getY(),
groundTruthState.poseMeters.getRotation().getRadians());
double error =
groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
if (error > maxError) {

23
wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
View File

@@ -165,11 +165,6 @@ class SwerveDrivePoseEstimatorTest {
double t = 0.0;
System.out.print(
"time, est_x, est_y, est_theta, true_x, true_y, true_theta, "
+ "distance_1, distance_2, distance_3, distance_4, "
+ "angle_1, angle_2, angle_3, angle_4\n");
final TreeMap<Double, Pose2d> visionUpdateQueue = new TreeMap<>();
double maxError = Double.NEGATIVE_INFINITY;
@@ -219,24 +214,6 @@ class SwerveDrivePoseEstimatorTest {
.minus(trajectory.getInitialPose().getRotation()),
positions);
System.out.printf(
"%f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n",
t,
xHat.getX(),
xHat.getY(),
xHat.getRotation().getRadians(),
groundTruthState.poseMeters.getX(),
groundTruthState.poseMeters.getY(),
groundTruthState.poseMeters.getRotation().getRadians(),
positions[0].distanceMeters,
positions[1].distanceMeters,
positions[2].distanceMeters,
positions[3].distanceMeters,
positions[0].angle.getRadians(),
positions[1].angle.getRadians(),
positions[2].angle.getRadians(),
positions[3].angle.getRadians());
double error =
groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
if (error > maxError) {