// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include <memory>
#include <vector>

#include "frc/trajectory/constraint/CentripetalAccelerationConstraint.h"
#include "frc/trajectory/constraint/TrajectoryConstraint.h"
#include "gtest/gtest.h"
#include "trajectory/TestTrajectory.h"
#include "units/acceleration.h"
#include "units/angle.h"
#include "units/math.h"
#include "units/velocity.h"

using namespace frc;

TEST(CentripetalAccelerationConstraintTest, Constraint) {
  const auto maxCentripetalAcceleration = 7_fps_sq;

  auto config = TrajectoryConfig(12_fps, 12_fps_sq);
  config.AddConstraint(
      CentripetalAccelerationConstraint(maxCentripetalAcceleration));

  auto trajectory = TestTrajectory::GetTrajectory(config);

  units::second_t time = 0_s;
  units::second_t dt = 20_ms;
  units::second_t duration = trajectory.TotalTime();

  while (time < duration) {
    const Trajectory::State point = trajectory.Sample(time);
    time += dt;

    auto centripetalAcceleration =
        units::math::pow<2>(point.velocity) * point.curvature / 1_rad;

    EXPECT_TRUE(centripetalAcceleration <
                maxCentripetalAcceleration + 0.05_mps_sq);
  }
}