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25 lines
794 B
C++
25 lines
794 B
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 "frc/kinematics/DifferentialDriveKinematics.h"
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#include "frc/kinematics/DifferentialDriveOdometry.h"
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#include "gtest/gtest.h"
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static constexpr double kEpsilon = 1E-9;
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using namespace frc;
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TEST(DifferentialDriveOdometryTest, EncoderDistances) {
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DifferentialDriveOdometry odometry{45_deg, 0_m, 0_m};
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const auto& pose =
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odometry.Update(135_deg, 0_m, 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.Rotation().Degrees().value(), 90.0, kEpsilon);
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}
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