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79 lines
3.1 KiB
C++
79 lines
3.1 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 <wpi/numbers>
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#include "frc/kinematics/ChassisSpeeds.h"
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#include "frc/kinematics/DifferentialDriveKinematics.h"
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#include "gtest/gtest.h"
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#include "units/angular_velocity.h"
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#include "units/length.h"
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#include "units/velocity.h"
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using namespace frc;
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static constexpr double kEpsilon = 1E-9;
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TEST(DifferentialDriveKinematics, InverseKinematicsFromZero) {
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const DifferentialDriveKinematics kinematics{0.381_m * 2};
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const ChassisSpeeds chassisSpeeds;
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const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
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EXPECT_NEAR(wheelSpeeds.left.to<double>(), 0, kEpsilon);
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EXPECT_NEAR(wheelSpeeds.right.to<double>(), 0, kEpsilon);
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}
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TEST(DifferentialDriveKinematics, ForwardKinematicsFromZero) {
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const DifferentialDriveKinematics kinematics{0.381_m * 2};
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const DifferentialDriveWheelSpeeds wheelSpeeds;
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const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
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EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 0, kEpsilon);
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}
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TEST(DifferentialDriveKinematics, InverseKinematicsForStraightLine) {
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const DifferentialDriveKinematics kinematics{0.381_m * 2};
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const ChassisSpeeds chassisSpeeds{3.0_mps, 0_mps, 0_rad_per_s};
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const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
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EXPECT_NEAR(wheelSpeeds.left.to<double>(), 3, kEpsilon);
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EXPECT_NEAR(wheelSpeeds.right.to<double>(), 3, kEpsilon);
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}
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TEST(DifferentialDriveKinematics, ForwardKinematicsForStraightLine) {
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const DifferentialDriveKinematics kinematics{0.381_m * 2};
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const DifferentialDriveWheelSpeeds wheelSpeeds{3.0_mps, 3.0_mps};
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const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
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EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 3, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 0, kEpsilon);
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}
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TEST(DifferentialDriveKinematics, InverseKinematicsForRotateInPlace) {
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const DifferentialDriveKinematics kinematics{0.381_m * 2};
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const ChassisSpeeds chassisSpeeds{
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0.0_mps, 0.0_mps, units::radians_per_second_t{wpi::numbers::pi}};
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const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
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EXPECT_NEAR(wheelSpeeds.left.to<double>(), -0.381 * wpi::numbers::pi,
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kEpsilon);
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EXPECT_NEAR(wheelSpeeds.right.to<double>(), +0.381 * wpi::numbers::pi,
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kEpsilon);
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}
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TEST(DifferentialDriveKinematics, ForwardKinematicsForRotateInPlace) {
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const DifferentialDriveKinematics kinematics{0.381_m * 2};
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const DifferentialDriveWheelSpeeds wheelSpeeds{
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units::meters_per_second_t(+0.381 * wpi::numbers::pi),
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units::meters_per_second_t(-0.381 * wpi::numbers::pi)};
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const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
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EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.omega.to<double>(), -wpi::numbers::pi, kEpsilon);
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}
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