mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
ac9be78e27
Now, implicit narrowing conversions are only used with wpi::Now(). This
also fixes clang-tidy warnings about C-style casts. For example:
```
== clang-tidy /__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc ==
/__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc:95:18: warning: C-style casts are discouraged; use static_cast/const_cast/reinterpret_cast [google-readability-casting]
auto curTime = units::second_t(m_timer.Get());
^
```
In that case at least, the cast was removed entirely since Get() already
returns a units::second_t.
56 lines
2.1 KiB
C++
56 lines
2.1 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 <vector>
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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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#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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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(
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frc::Translation2d{5_ft, 2.5_ft}, 10_ft, 5_ft, 180_deg, 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, 0_deg, 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, 90_deg, 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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