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[wpimath] Fix TrapezoidProfile limiting velocity incorrectly (#8030)

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This commit is contained in:
ThePixelatedCat
2025-06-25 15:36:53 +10:00
committed by GitHub
parent ddc5220ed4
commit ffe296892c
4 changed files with 104 additions and 8 deletions
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42
wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java
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@@ -253,4 +253,46 @@ class TrapezoidProfileTest {
assertNear(profile.timeLeftUntil(0), 0, 1e-10);
assertNear(profile.totalTime(), 0, 1e-10);
}
@Test
void initialVelocityConstraints() {
TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(0.75, 0.75);
TrapezoidProfile.State goal = new TrapezoidProfile.State(10, 0);
TrapezoidProfile.State state = new TrapezoidProfile.State(0, -10);
TrapezoidProfile profile = new TrapezoidProfile(constraints);
for (int i = 0; i < 200; ++i) {
state = profile.calculate(kDt, state, goal);
assertLessThanOrEquals(Math.abs(state.velocity), Math.abs(constraints.maxVelocity));
}
}
@Test
void goalVelocityConstraints() {
TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(0.75, 0.75);
TrapezoidProfile.State goal = new TrapezoidProfile.State(10, 5);
TrapezoidProfile.State state = new TrapezoidProfile.State(0, 0.75);
TrapezoidProfile profile = new TrapezoidProfile(constraints);
for (int i = 0; i < 200; ++i) {
state = profile.calculate(kDt, state, goal);
assertLessThanOrEquals(Math.abs(state.velocity), Math.abs(constraints.maxVelocity));
}
}
@Test
void negativeGoalVelocityConstraints() {
TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(0.75, 0.75);
TrapezoidProfile.State goal = new TrapezoidProfile.State(10, -5);
TrapezoidProfile.State state = new TrapezoidProfile.State(0, 0.75);
TrapezoidProfile profile = new TrapezoidProfile(constraints);
for (int i = 0; i < 200; ++i) {
state = profile.calculate(kDt, state, goal);
assertLessThanOrEquals(Math.abs(state.velocity), Math.abs(constraints.maxVelocity));
}
}
}

45
wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
View File

@@ -241,3 +241,48 @@ TEST(TrapezoidProfileTest, InitalizationOfCurrentState) {
EXPECT_NEAR_UNITS(profile.TimeLeftUntil(0_m), 0_s, 1e-10_s);
EXPECT_NEAR_UNITS(profile.TotalTime(), 0_s, 1e-10_s);
}
TEST(TrapezoidProfileTest, InitialVelocityConstraints) {
frc::TrapezoidProfile<units::meter>::Constraints constraints{0.75_mps,
0.75_mps_sq};
frc::TrapezoidProfile<units::meter>::State goal{10_m, 0_mps};
frc::TrapezoidProfile<units::meter>::State state{0_m, -10_mps};
frc::TrapezoidProfile<units::meter> profile{constraints};
for (int i = 0; i < 200; ++i) {
state = profile.Calculate(kDt, state, goal);
EXPECT_LE(units::math::abs(state.velocity),
units::math::abs(constraints.maxVelocity));
}
}
TEST(TrapezoidProfileTest, GoalVelocityConstraints) {
frc::TrapezoidProfile<units::meter>::Constraints constraints{0.75_mps,
0.75_mps_sq};
frc::TrapezoidProfile<units::meter>::State goal{10_m, 5_mps};
frc::TrapezoidProfile<units::meter>::State state{0_m, 0.75_mps};
frc::TrapezoidProfile<units::meter> profile{constraints};
for (int i = 0; i < 200; ++i) {
state = profile.Calculate(kDt, state, goal);
EXPECT_LE(units::math::abs(state.velocity),
units::math::abs(constraints.maxVelocity));
}
}
TEST(TrapezoidProfileTest, NegativeGoalVelocityConstraints) {
frc::TrapezoidProfile<units::meter>::Constraints constraints{0.75_mps,
0.75_mps_sq};
frc::TrapezoidProfile<units::meter>::State goal{10_m, -5_mps};
frc::TrapezoidProfile<units::meter>::State state{0_m, 0.75_mps};
frc::TrapezoidProfile<units::meter> profile{constraints};
for (int i = 0; i < 200; ++i) {
state = profile.Calculate(kDt, state, goal);
EXPECT_LE(units::math::abs(state.velocity),
units::math::abs(constraints.maxVelocity));
}
}