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18 lines
679 B
C++
18 lines
679 B
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 "frc/kinematics/ChassisSpeeds.h"
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#include "gtest/gtest.h"
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static constexpr double kEpsilon = 1E-9;
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TEST(ChassisSpeedsTest, FieldRelativeConstruction) {
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const auto chassisSpeeds = frc::ChassisSpeeds::FromFieldRelativeSpeeds(
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1.0_mps, 0.0_mps, 0.5_rad_per_s, frc::Rotation2d(-90.0_deg));
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EXPECT_NEAR(0.0, chassisSpeeds.vx.value(), kEpsilon);
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EXPECT_NEAR(1.0, chassisSpeeds.vy.value(), kEpsilon);
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EXPECT_NEAR(0.5, chassisSpeeds.omega.value(), kEpsilon);
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}
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