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43 lines
1.5 KiB
C++
43 lines
1.5 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <numbers>
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#include <gtest/gtest.h>
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#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
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#include "wpi/math/kinematics/DifferentialDriveOdometry3d.hpp"
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static constexpr double kEpsilon = 1E-9;
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using namespace wpi::math;
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TEST(DifferentialDriveOdometry3dTest, Initialize) {
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DifferentialDriveOdometry3d odometry{
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wpi::math::Rotation3d{0_deg, 0_deg, 90_deg}, 0_m, 0_m,
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wpi::math::Pose3d{1_m, 2_m, 0_m,
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wpi::math::Rotation3d{0_deg, 0_deg, 45_deg}}};
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const wpi::math::Pose3d& pose = odometry.GetPose();
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EXPECT_NEAR(pose.X().value(), 1, kEpsilon);
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EXPECT_NEAR(pose.Y().value(), 2, kEpsilon);
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EXPECT_NEAR(pose.Z().value(), 0, kEpsilon);
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EXPECT_NEAR(pose.Rotation().ToRotation2d().Degrees().value(), 45, kEpsilon);
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}
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TEST(DifferentialDriveOdometry3dTest, EncoderDistances) {
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DifferentialDriveOdometry3d odometry{
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wpi::math::Rotation3d{0_deg, 0_deg, 45_deg}, 0_m, 0_m};
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const auto& pose =
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odometry.Update(wpi::math::Rotation3d{0_deg, 0_deg, 135_deg}, 0_m,
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wpi::units::meter_t{5 * std::numbers::pi});
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EXPECT_NEAR(pose.X().value(), 5.0, kEpsilon);
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EXPECT_NEAR(pose.Y().value(), 5.0, kEpsilon);
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EXPECT_NEAR(pose.Z().value(), 0.0, kEpsilon);
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EXPECT_NEAR(pose.Rotation().ToRotation2d().Degrees().value(), 90.0, kEpsilon);
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}
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