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[wpimath] Add copySignPow to MathUtil for joystick input shaping (#8013)

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This commit is contained in:
Michael Lesirge
2025-06-15 14:08:41 -07:00
committed by GitHub
parent e2517b7a21
commit fb399eef3d
6 changed files with 173 additions and 8 deletions
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55
wpimath/src/test/native/cpp/MathUtilTest.cpp
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@@ -65,6 +65,61 @@ TEST(MathUtilTest, ApplyDeadbandLargeMaxMagnitude) {
frc::ApplyDeadband(100.0, 20.0, std::numeric_limits<double>::infinity()));
}
TEST(MathUtilTest, CopySignPow) {
EXPECT_DOUBLE_EQ(0.5, frc::CopySignPow(0.5, 1.0));
EXPECT_DOUBLE_EQ(-0.5, frc::CopySignPow(-0.5, 1.0));
EXPECT_DOUBLE_EQ(0.5 * 0.5, frc::CopySignPow(0.5, 2.0));
EXPECT_DOUBLE_EQ(-(0.5 * 0.5), frc::CopySignPow(-0.5, 2.0));
EXPECT_DOUBLE_EQ(std::sqrt(0.5), frc::CopySignPow(0.5, 0.5));
EXPECT_DOUBLE_EQ(-std::sqrt(0.5), frc::CopySignPow(-0.5, 0.5));
EXPECT_DOUBLE_EQ(0.0, frc::CopySignPow(0.0, 2.0));
EXPECT_DOUBLE_EQ(1.0, frc::CopySignPow(1.0, 2.0));
EXPECT_DOUBLE_EQ(-1.0, frc::CopySignPow(-1.0, 2.0));
EXPECT_DOUBLE_EQ(std::pow(0.8, 0.3), frc::CopySignPow(0.8, 0.3));
EXPECT_DOUBLE_EQ(-std::pow(0.8, 0.3), frc::CopySignPow(-0.8, 0.3));
}
TEST(MathUtilTest, CopySignPowWithMaxMagnitude) {
EXPECT_DOUBLE_EQ(5.0, frc::CopySignPow(5.0, 1.0, 10.0));
EXPECT_DOUBLE_EQ(-5.0, frc::CopySignPow(-5.0, 1.0, 10.0));
EXPECT_DOUBLE_EQ(0.5 * 0.5 * 10, frc::CopySignPow(5.0, 2.0, 10.0));
EXPECT_DOUBLE_EQ(-0.5 * 0.5 * 10, frc::CopySignPow(-5.0, 2.0, 10.0));
EXPECT_DOUBLE_EQ(std::sqrt(0.5) * 10, frc::CopySignPow(5.0, 0.5, 10.0));
EXPECT_DOUBLE_EQ(-std::sqrt(0.5) * 10, frc::CopySignPow(-5.0, 0.5, 10.0));
EXPECT_DOUBLE_EQ(0.0, frc::CopySignPow(0.0, 2.0, 5.0));
EXPECT_DOUBLE_EQ(5.0, frc::CopySignPow(5.0, 2.0, 5.0));
EXPECT_DOUBLE_EQ(-5.0, frc::CopySignPow(-5.0, 2.0, 5.0));
EXPECT_DOUBLE_EQ(std::pow(0.8, 0.3) * 100,
frc::CopySignPow(80.0, 0.3, 100.0));
EXPECT_DOUBLE_EQ(-std::pow(0.8, 0.3) * 100,
frc::CopySignPow(-80.0, 0.3, 100.0));
}
TEST(MathUtilTest, CopySignPowWithUnits) {
EXPECT_DOUBLE_EQ(
0, frc::CopySignPow<units::meters_per_second_t>(0_mps, 2.0).value());
EXPECT_DOUBLE_EQ(
1, frc::CopySignPow<units::meters_per_second_t>(1_mps, 2.0).value());
EXPECT_DOUBLE_EQ(
-1, frc::CopySignPow<units::meters_per_second_t>(-1_mps, 2.0).value());
EXPECT_DOUBLE_EQ(
0.5 * 0.5 * 10,
frc::CopySignPow<units::meters_per_second_t>(5_mps, 2.0, 10_mps).value());
EXPECT_DOUBLE_EQ(
-0.5 * 0.5 * 10,
frc::CopySignPow<units::meters_per_second_t>(-5_mps, 2.0, 10_mps)
.value());
}
TEST(MathUtilTest, InputModulus) {
// These tests check error wrapping. That is, the result of wrapping the
// result of an angle reference minus the measurement.