mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
9359431bad
* Replace Matrix<> with Vector<> where vectors are explicitly intended. I found these via `rg "Eigen::Matrix<double, \w+, 1>"`. * Pass all Eigen matrices by const reference. I found these via `rg "\(Eigen"` on main (the initializer list constructors make more false positives). * Replace MakeMatrix() and operator<< usage with initializer list constructors. I found these via `rg MakeMatrix` and `rg "<<"` respectively. * Deprecate MakeMatrix()
29 lines
829 B
C++
29 lines
829 B
C++
// 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 <gtest/gtest.h>
|
|
|
|
#include <cmath>
|
|
|
|
#include "Eigen/Core"
|
|
#include "frc/controller/LinearPlantInversionFeedforward.h"
|
|
#include "units/time.h"
|
|
|
|
namespace frc {
|
|
|
|
TEST(LinearPlantInversionFeedforwardTest, Calculate) {
|
|
Eigen::Matrix<double, 2, 2> A{{1, 0}, {0, 1}};
|
|
Eigen::Matrix<double, 2, 1> B{0, 1};
|
|
|
|
frc::LinearPlantInversionFeedforward<2, 1> feedforward{A, B,
|
|
units::second_t(0.02)};
|
|
|
|
Eigen::Vector<double, 2> r{2, 2};
|
|
Eigen::Vector<double, 2> nextR{3, 3};
|
|
|
|
EXPECT_NEAR(47.502599, feedforward.Calculate(r, nextR)(0, 0), 0.002);
|
|
}
|
|
|
|
} // namespace frc
|