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63 lines
2.5 KiB
C++
63 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 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 <vector>
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#include <units/acceleration.h>
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#include <units/angle.h>
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#include <units/length.h>
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#include <units/velocity.h>
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#include "frc/kinematics/DifferentialDriveKinematics.h"
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#include "frc/trajectory/constraint/EllipticalRegionConstraint.h"
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#include "frc/trajectory/constraint/MaxVelocityConstraint.h"
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#include "gtest/gtest.h"
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#include "trajectory/TestTrajectory.h"
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using namespace frc;
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TEST(EllipticalRegionConstraintTest, Constraint) {
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constexpr auto maxVelocity = 2_fps;
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auto config = TrajectoryConfig(13_fps, 13_fps_sq);
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MaxVelocityConstraint maxVelConstraint(maxVelocity);
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EllipticalRegionConstraint regionConstraint(frc::Translation2d{5_ft, 2.5_ft},
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10_ft, 5_ft, Rotation2d(180_deg),
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maxVelConstraint);
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config.AddConstraint(regionConstraint);
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auto trajectory = TestTrajectory::GetTrajectory(config);
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bool exceededConstraintOutsideRegion = false;
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for (auto& point : trajectory.States()) {
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auto translation = point.pose.Translation();
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if (translation.X() < 10_ft && translation.Y() < 5_ft) {
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EXPECT_TRUE(units::math::abs(point.velocity) < maxVelocity + 0.05_mps);
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} else if (units::math::abs(point.velocity) >= maxVelocity + 0.05_mps) {
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exceededConstraintOutsideRegion = true;
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}
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}
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EXPECT_TRUE(exceededConstraintOutsideRegion);
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}
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TEST(EllipticalRegionConstraintTest, IsPoseInRegion) {
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constexpr auto maxVelocity = 2_fps;
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MaxVelocityConstraint maxVelConstraint(maxVelocity);
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EllipticalRegionConstraint regionConstraintNoRotation(
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frc::Translation2d{1_ft, 1_ft}, 2_ft, 4_ft, Rotation2d(0_deg),
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maxVelConstraint);
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EXPECT_FALSE(regionConstraintNoRotation.IsPoseInRegion(
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frc::Pose2d(2.1_ft, 1_ft, 0_rad)));
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EllipticalRegionConstraint regionConstraintWithRotation(
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frc::Translation2d{1_ft, 1_ft}, 2_ft, 4_ft, Rotation2d(90_deg),
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maxVelConstraint);
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EXPECT_TRUE(regionConstraintWithRotation.IsPoseInRegion(
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frc::Pose2d(2.1_ft, 1_ft, 0_rad)));
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}
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