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https://github.com/wpilibsuite/allwpilib
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3b283ab9aa
Co-authored-by: Tyler Veness <calcmogul@gmail.com> Co-authored-by: Claudius Tewari <cttewari@gmail.com> Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
37 lines
1.1 KiB
C++
37 lines
1.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <gtest/gtest.h>
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#include <cmath>
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#include "Eigen/Core"
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#include "frc/controller/LinearPlantInversionFeedforward.h"
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#include "units/time.h"
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namespace frc {
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TEST(LinearPlantInversionFeedforwardTest, Calculate) {
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Eigen::Matrix<double, 2, 2> A;
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A << 1, 0, 0, 1;
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Eigen::Matrix<double, 2, 1> B;
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B << 0, 1;
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frc::LinearPlantInversionFeedforward<2, 1> feedforward{A, B,
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units::second_t(0.02)};
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Eigen::Matrix<double, 2, 1> r;
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r << 2, 2;
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Eigen::Matrix<double, 2, 1> nextR;
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nextR << 3, 3;
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EXPECT_NEAR(47.502599, feedforward.Calculate(r, nextR)(0, 0), 0.002);
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}
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} // namespace frc
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