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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
43 lines
1.3 KiB
C++
43 lines
1.3 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 <memory>
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#include <vector>
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#include "frc/kinematics/DifferentialDriveKinematics.h"
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#include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
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#include "gtest/gtest.h"
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#include "trajectory/TestTrajectory.h"
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#include "units/time.h"
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using namespace frc;
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TEST(DifferentialDriveKinematicsConstraintTest, Constraint) {
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const auto maxVelocity = 12_fps;
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const DifferentialDriveKinematics kinematics{27_in};
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auto config = TrajectoryConfig(12_fps, 12_fps_sq);
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config.AddConstraint(
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DifferentialDriveKinematicsConstraint(kinematics, maxVelocity));
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auto trajectory = TestTrajectory::GetTrajectory(config);
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units::second_t time = 0_s;
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units::second_t dt = 20_ms;
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units::second_t duration = trajectory.TotalTime();
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while (time < duration) {
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const Trajectory::State point = trajectory.Sample(time);
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time += dt;
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const ChassisSpeeds chassisSpeeds{point.velocity, 0_mps,
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point.velocity * point.curvature};
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auto [left, right] = kinematics.ToWheelSpeeds(chassisSpeeds);
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EXPECT_TRUE(left < maxVelocity + 0.05_mps);
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EXPECT_TRUE(right < maxVelocity + 0.05_mps);
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}
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}
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