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203 lines
7.2 KiB
C++
203 lines
7.2 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 <limits>
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#include <random>
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#include "frc/kinematics/MecanumDriveOdometry.h"
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#include "frc/trajectory/TrajectoryGenerator.h"
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#include "gtest/gtest.h"
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using namespace frc;
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class MecanumDriveOdometryTest : public ::testing::Test {
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protected:
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Translation2d m_fl{12_m, 12_m};
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Translation2d m_fr{12_m, -12_m};
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Translation2d m_bl{-12_m, 12_m};
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Translation2d m_br{-12_m, -12_m};
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MecanumDriveWheelPositions zero;
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MecanumDriveKinematics kinematics{m_fl, m_fr, m_bl, m_br};
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MecanumDriveOdometry odometry{kinematics, 0_rad, zero};
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};
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TEST_F(MecanumDriveOdometryTest, MultipleConsecutiveUpdates) {
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MecanumDriveWheelPositions wheelDeltas{3.536_m, 3.536_m, 3.536_m, 3.536_m};
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odometry.ResetPosition(Pose2d{}, 0_rad, wheelDeltas);
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odometry.Update(0_deg, wheelDeltas);
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auto secondPose = odometry.Update(0_deg, wheelDeltas);
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EXPECT_NEAR(secondPose.X().value(), 0.0, 0.01);
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EXPECT_NEAR(secondPose.Y().value(), 0.0, 0.01);
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EXPECT_NEAR(secondPose.Rotation().Radians().value(), 0.0, 0.01);
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}
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TEST_F(MecanumDriveOdometryTest, TwoIterations) {
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odometry.ResetPosition(Pose2d{}, 0_rad, zero);
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MecanumDriveWheelPositions wheelDeltas{0.3536_m, 0.3536_m, 0.3536_m,
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0.3536_m};
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odometry.Update(0_deg, MecanumDriveWheelPositions{});
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auto pose = odometry.Update(0_deg, wheelDeltas);
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EXPECT_NEAR(pose.X().value(), 0.3536, 0.01);
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EXPECT_NEAR(pose.Y().value(), 0.0, 0.01);
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EXPECT_NEAR(pose.Rotation().Radians().value(), 0.0, 0.01);
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}
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TEST_F(MecanumDriveOdometryTest, 90DegreeTurn) {
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odometry.ResetPosition(Pose2d{}, 0_rad, zero);
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MecanumDriveWheelPositions wheelDeltas{-13.328_m, 39.986_m, -13.329_m,
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39.986_m};
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odometry.Update(0_deg, MecanumDriveWheelPositions{});
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auto pose = odometry.Update(90_deg, wheelDeltas);
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EXPECT_NEAR(pose.X().value(), 8.4855, 0.01);
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EXPECT_NEAR(pose.Y().value(), 8.4855, 0.01);
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EXPECT_NEAR(pose.Rotation().Degrees().value(), 90.0, 0.01);
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}
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TEST_F(MecanumDriveOdometryTest, GyroAngleReset) {
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odometry.ResetPosition(Pose2d{}, 90_deg, zero);
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MecanumDriveWheelPositions wheelDeltas{0.3536_m, 0.3536_m, 0.3536_m,
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0.3536_m};
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odometry.Update(90_deg, MecanumDriveWheelPositions{});
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auto pose = odometry.Update(90_deg, wheelDeltas);
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EXPECT_NEAR(pose.X().value(), 0.3536, 0.01);
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EXPECT_NEAR(pose.Y().value(), 0.0, 0.01);
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EXPECT_NEAR(pose.Rotation().Radians().value(), 0.0, 0.01);
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}
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TEST_F(MecanumDriveOdometryTest, AccuracyFacingTrajectory) {
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frc::MecanumDriveKinematics kinematics{
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frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
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frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
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frc::MecanumDriveWheelPositions wheelPositions;
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frc::MecanumDriveOdometry odometry{kinematics, frc::Rotation2d{},
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wheelPositions, frc::Pose2d{}};
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frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
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std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
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frc::Pose2d{0_m, 0_m, 135_deg},
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frc::Pose2d{-3_m, 0_m, -90_deg},
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frc::Pose2d{0_m, 0_m, 45_deg}},
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frc::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
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std::default_random_engine generator;
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std::normal_distribution<double> distribution(0.0, 1.0);
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units::second_t dt = 0.02_s;
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units::second_t t = 0_s;
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double maxError = -std::numeric_limits<double>::max();
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double errorSum = 0;
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while (t < trajectory.TotalTime()) {
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frc::Trajectory::State groundTruthState = trajectory.Sample(t);
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auto wheelSpeeds = kinematics.ToWheelSpeeds(
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{groundTruthState.velocity, 0_mps,
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groundTruthState.velocity * groundTruthState.curvature});
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wheelSpeeds.frontLeft += distribution(generator) * 0.1_mps;
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wheelSpeeds.frontRight += distribution(generator) * 0.1_mps;
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wheelSpeeds.rearLeft += distribution(generator) * 0.1_mps;
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wheelSpeeds.rearRight += distribution(generator) * 0.1_mps;
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wheelPositions.frontLeft += wheelSpeeds.frontLeft * dt;
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wheelPositions.frontRight += wheelSpeeds.frontRight * dt;
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wheelPositions.rearLeft += wheelSpeeds.rearLeft * dt;
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wheelPositions.rearRight += wheelSpeeds.rearRight * dt;
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auto xhat =
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odometry.Update(groundTruthState.pose.Rotation() +
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frc::Rotation2d{distribution(generator) * 0.05_rad},
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wheelPositions);
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double error = groundTruthState.pose.Translation()
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.Distance(xhat.Translation())
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.value();
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if (error > maxError) {
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maxError = error;
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}
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errorSum += error;
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t += dt;
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}
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EXPECT_LT(errorSum / (trajectory.TotalTime().value() / dt.value()), 0.06);
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EXPECT_LT(maxError, 0.125);
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}
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TEST_F(MecanumDriveOdometryTest, AccuracyFacingXAxis) {
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frc::MecanumDriveKinematics kinematics{
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frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
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frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
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frc::MecanumDriveWheelPositions wheelPositions;
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frc::MecanumDriveOdometry odometry{kinematics, frc::Rotation2d{},
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wheelPositions, frc::Pose2d{}};
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frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
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std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
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frc::Pose2d{0_m, 0_m, 135_deg},
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frc::Pose2d{-3_m, 0_m, -90_deg},
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frc::Pose2d{0_m, 0_m, 45_deg}},
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frc::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
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std::default_random_engine generator;
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std::normal_distribution<double> distribution(0.0, 1.0);
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units::second_t dt = 0.02_s;
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units::second_t t = 0_s;
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double maxError = -std::numeric_limits<double>::max();
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double errorSum = 0;
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while (t < trajectory.TotalTime()) {
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frc::Trajectory::State groundTruthState = trajectory.Sample(t);
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auto wheelSpeeds = kinematics.ToWheelSpeeds(
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{groundTruthState.velocity * groundTruthState.pose.Rotation().Cos(),
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groundTruthState.velocity * groundTruthState.pose.Rotation().Sin(),
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0_rad_per_s});
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wheelSpeeds.frontLeft += distribution(generator) * 0.1_mps;
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wheelSpeeds.frontRight += distribution(generator) * 0.1_mps;
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wheelSpeeds.rearLeft += distribution(generator) * 0.1_mps;
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wheelSpeeds.rearRight += distribution(generator) * 0.1_mps;
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wheelPositions.frontLeft += wheelSpeeds.frontLeft * dt;
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wheelPositions.frontRight += wheelSpeeds.frontRight * dt;
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wheelPositions.rearLeft += wheelSpeeds.rearLeft * dt;
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wheelPositions.rearRight += wheelSpeeds.rearRight * dt;
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auto xhat = odometry.Update(
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frc::Rotation2d{distribution(generator) * 0.05_rad}, wheelPositions);
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double error = groundTruthState.pose.Translation()
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.Distance(xhat.Translation())
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.value();
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if (error > maxError) {
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maxError = error;
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}
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errorSum += error;
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t += dt;
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}
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EXPECT_LT(errorSum / (trajectory.TotalTime().value() / dt.value()), 0.06);
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EXPECT_LT(maxError, 0.125);
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}
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