From a82f47255942835a316870ee6e8a766b81f743b4 Mon Sep 17 00:00:00 2001 From: Prateek Machiraju Date: Wed, 26 Jun 2019 15:01:36 -0400 Subject: [PATCH] refactor and reformat --- src/bench/bench_arc_param.cpp | 8 ++-- src/bench/bench_trajectory_generation.cpp | 10 ++--- src/bench/main.cpp | 1 - src/include/FalconLibrary.h | 39 ++++++++++++------- src/include/{ => fl}/Utilities.h | 2 +- .../mathematics/control/RamseteTracker.h | 2 +- .../mathematics/control/TrajectoryTracker.h | 4 +- .../{ => fl}/mathematics/geometry/Pose2d.h | 4 +- .../geometry/Pose2dWithCurvature.h | 2 +- .../mathematics/geometry/Rotation2d.h | 4 +- .../mathematics/geometry/Translation2d.h | 4 +- .../{ => fl}/mathematics/geometry/Twist2d.h | 2 +- .../spline/ParametricQuinticHermiteSpline.h | 2 +- .../mathematics/spline/ParametricSpline.h | 4 +- .../mathematics/spline/SplineGenerator.h | 4 +- .../trajectory/DistanceTrajectory.h | 2 +- .../trajectory/IndexedTrajectory.h | 2 +- .../mathematics/trajectory/TimedTrajectory.h | 4 +- .../mathematics/trajectory/Trajectory.h | 2 +- .../trajectory/TrajectoryGenerator.h | 8 ++-- .../trajectory/TrajectoryIterator.h | 4 +- .../AngularAccelerationConstraint.h | 8 ++-- .../CentripetalAccelerationConstraint.h | 6 +-- .../trajectory/constraints/TimingConstraint.h | 2 +- .../VelocityLimitRadiusConstraint.h | 6 +-- src/include/{ => fl}/types/Interpolatable.h | 4 +- .../{ => fl}/types/VaryInterpolatable.h | 2 +- src/test/cpp/geometry-tests.cpp | 8 ++-- src/test/cpp/ramsete-tests.cpp | 14 +++---- src/test/cpp/trajectory-tests.cpp | 14 +++---- 30 files changed, 94 insertions(+), 84 deletions(-) rename src/include/{ => fl}/Utilities.h (92%) rename src/include/{ => fl}/mathematics/control/RamseteTracker.h (98%) rename src/include/{ => fl}/mathematics/control/TrajectoryTracker.h (96%) rename src/include/{ => fl}/mathematics/geometry/Pose2d.h (98%) rename src/include/{ => fl}/mathematics/geometry/Pose2dWithCurvature.h (98%) rename src/include/{ => fl}/mathematics/geometry/Rotation2d.h (96%) rename src/include/{ => fl}/mathematics/geometry/Translation2d.h (96%) rename src/include/{ => fl}/mathematics/geometry/Twist2d.h (97%) rename src/include/{ => fl}/mathematics/spline/ParametricQuinticHermiteSpline.h (99%) rename src/include/{ => fl}/mathematics/spline/ParametricSpline.h (89%) rename src/include/{ => fl}/mathematics/spline/SplineGenerator.h (97%) rename src/include/{ => fl}/mathematics/trajectory/DistanceTrajectory.h (99%) rename src/include/{ => fl}/mathematics/trajectory/IndexedTrajectory.h (99%) rename src/include/{ => fl}/mathematics/trajectory/TimedTrajectory.h (98%) rename src/include/{ => fl}/mathematics/trajectory/Trajectory.h (96%) rename src/include/{ => fl}/mathematics/trajectory/TrajectoryGenerator.h (98%) rename src/include/{ => fl}/mathematics/trajectory/TrajectoryIterator.h (94%) rename src/include/{ => fl}/mathematics/trajectory/constraints/AngularAccelerationConstraint.h (89%) rename src/include/{ => fl}/mathematics/trajectory/constraints/CentripetalAccelerationConstraint.h (82%) rename src/include/{ => fl}/mathematics/trajectory/constraints/TimingConstraint.h (97%) rename src/include/{ => fl}/mathematics/trajectory/constraints/VelocityLimitRadiusConstraint.h (84%) rename src/include/{ => fl}/types/Interpolatable.h (90%) rename src/include/{ => fl}/types/VaryInterpolatable.h (91%) diff --git a/src/bench/bench_arc_param.cpp b/src/bench/bench_arc_param.cpp index 3e07599..9e0b524 100644 --- a/src/bench/bench_arc_param.cpp +++ b/src/bench/bench_arc_param.cpp @@ -2,12 +2,12 @@ #include static void BM_ArcParam(benchmark::State& state) { - const frc5190::Pose2d initial{0.0, 0.0, frc5190::Rotation2d::FromDegrees(0.0)}; - const frc5190::Pose2d final{10.0, 10.0, frc5190::Rotation2d::FromDegrees(50.0)}; - const auto spline = std::make_shared(initial, final); + const fl::Pose2d initial{0.0, 0.0, fl::Rotation2d::FromDegrees(0.0)}; + const fl::Pose2d final{10.0, 10.0, fl::Rotation2d::FromDegrees(45.0)}; + const auto spline = std::make_shared(initial, final); for (auto _ : state) { - frc5190::SplineGenerator::ParameterizeSpline(spline, 2.0, 0.05, 0.1); + fl::SplineGenerator::ParameterizeSpline(spline, 2.0, 0.05, 0.1); } } diff --git a/src/bench/bench_trajectory_generation.cpp b/src/bench/bench_trajectory_generation.cpp index be57a69..80f8cbb 100644 --- a/src/bench/bench_trajectory_generation.cpp +++ b/src/bench/bench_trajectory_generation.cpp @@ -2,13 +2,13 @@ #include static void BM_TrajectoryGeneration(benchmark::State& state) { - const frc5190::Pose2d initial{0.0, 0.0, frc5190::Rotation2d::FromDegrees(0.0)}; - const frc5190::Pose2d final{10.0, 10.0, frc5190::Rotation2d::FromDegrees(50.0)}; + const fl::Pose2d initial{0.0, 0.0, fl::Rotation2d::FromDegrees(0.0)}; + const fl::Pose2d final{10.0, 10.0, fl::Rotation2d::FromDegrees(45.0)}; for (auto _ : state) { - frc5190::TrajectoryGenerator::GenerateTrajectory( - std::vector{initial, final}, - std::vector*>{}, 0.0, 0.0, 3., 2., false); + fl::TrajectoryGenerator::GenerateTrajectory(std::vector{initial, final}, + std::vector*>{}, + 0.0, 0.0, 3., 2., false); } } diff --git a/src/bench/main.cpp b/src/bench/main.cpp index a10c74f..71fefa0 100644 --- a/src/bench/main.cpp +++ b/src/bench/main.cpp @@ -1,4 +1,3 @@ #include BENCHMARK_MAIN(); - diff --git a/src/include/FalconLibrary.h b/src/include/FalconLibrary.h index 3fef48c..fa97b82 100644 --- a/src/include/FalconLibrary.h +++ b/src/include/FalconLibrary.h @@ -1,22 +1,33 @@ #pragma once -#include "types/Interpolatable.h" -#include "types/VaryInterpolatable.h" +#include "fl/Utilities.h" -#include "mathematics/geometry/Pose2d.h" -#include "mathematics/geometry/Pose2dWithCurvature.h" -#include "mathematics/geometry/Rotation2d.h" -#include "mathematics/geometry/Translation2d.h" -#include "mathematics/geometry/Twist2d.h" +#include "fl/mathematics/geometry/Pose2d.h" +#include "fl/mathematics/geometry/Pose2dWithCurvature.h" +#include "fl/mathematics/geometry/Rotation2d.h" +#include "fl/mathematics/geometry/Translation2d.h" +#include "fl/mathematics/geometry/Twist2d.h" -#include "mathematics/spline/ParametricQuinticHermiteSpline.h" -#include "mathematics/spline/ParametricSpline.h" -#include "mathematics/spline/SplineGenerator.h" +#include "fl/mathematics/control/RamseteTracker.h" +#include "fl/mathematics/control/TrajectoryTracker.h" -#include "mathematics/trajectory/TrajectoryGenerator.h" +#include "fl/mathematics/spline/ParametricQuinticHermiteSpline.h" +#include "fl/mathematics/spline/ParametricSpline.h" +#include "fl/mathematics/spline/SplineGenerator.h" -#include "mathematics/control/RamseteTracker.h" +#include "fl/mathematics/trajectory/constraints/AngularAccelerationConstraint.h" +#include "fl/mathematics/trajectory/constraints/CentripetalAccelerationConstraint.h" +#include "fl/mathematics/trajectory/constraints/TimingConstraint.h" +#include "fl/mathematics/trajectory/constraints/VelocityLimitRadiusConstraint.h" -#include "Utilities.h" +#include "fl/mathematics/trajectory/DistanceTrajectory.h" +#include "fl/mathematics/trajectory/IndexedTrajectory.h" +#include "fl/mathematics/trajectory/TimedTrajectory.h" +#include "fl/mathematics/trajectory/Trajectory.h" +#include "fl/mathematics/trajectory/TrajectoryGenerator.h" +#include "fl/mathematics/trajectory/TrajectoryIterator.h" -namespace frc5190 {} \ No newline at end of file +#include "fl/types/Interpolatable.h" +#include "fl/types/VaryInterpolatable.h" + +namespace fl {} \ No newline at end of file diff --git a/src/include/Utilities.h b/src/include/fl/Utilities.h similarity index 92% rename from src/include/Utilities.h rename to src/include/fl/Utilities.h index dba5c3a..95272e4 100644 --- a/src/include/Utilities.h +++ b/src/include/fl/Utilities.h @@ -2,7 +2,7 @@ #include -namespace frc5190 { +namespace fl { constexpr double kEpsilon = 1E-9; constexpr double kPi = 3.14159265358979323846; diff --git a/src/include/mathematics/control/RamseteTracker.h b/src/include/fl/mathematics/control/RamseteTracker.h similarity index 98% rename from src/include/mathematics/control/RamseteTracker.h rename to src/include/fl/mathematics/control/RamseteTracker.h index 53cbc7e..05a625b 100644 --- a/src/include/mathematics/control/RamseteTracker.h +++ b/src/include/fl/mathematics/control/RamseteTracker.h @@ -2,7 +2,7 @@ #include "TrajectoryTracker.h" -namespace frc5190 { +namespace fl { class RamseteTracker : public TrajectoryTracker { public: RamseteTracker(const double beta, const double zeta) : beta_(beta), zeta_(zeta) {} diff --git a/src/include/mathematics/control/TrajectoryTracker.h b/src/include/fl/mathematics/control/TrajectoryTracker.h similarity index 96% rename from src/include/mathematics/control/TrajectoryTracker.h rename to src/include/fl/mathematics/control/TrajectoryTracker.h index c123685..86ad651 100644 --- a/src/include/mathematics/control/TrajectoryTracker.h +++ b/src/include/fl/mathematics/control/TrajectoryTracker.h @@ -1,10 +1,10 @@ #pragma once -#include "mathematics/trajectory/TimedTrajectory.h" +#include "fl/mathematics/trajectory/TimedTrajectory.h" #include -namespace frc5190 { +namespace fl { struct TrajectoryTrackerVelocityOutput { double linear_velocity = 0.0; diff --git a/src/include/mathematics/geometry/Pose2d.h b/src/include/fl/mathematics/geometry/Pose2d.h similarity index 98% rename from src/include/mathematics/geometry/Pose2d.h rename to src/include/fl/mathematics/geometry/Pose2d.h index 72375a7..d2ea30b 100644 --- a/src/include/mathematics/geometry/Pose2d.h +++ b/src/include/fl/mathematics/geometry/Pose2d.h @@ -1,11 +1,11 @@ #pragma once -#include "../../Utilities.h" +#include "fl/Utilities.h" #include "Rotation2d.h" #include "Translation2d.h" #include "Twist2d.h" -namespace frc5190 { +namespace fl { class Twist2d; class Pose2d final : public VaryInterpolatable { public: diff --git a/src/include/mathematics/geometry/Pose2dWithCurvature.h b/src/include/fl/mathematics/geometry/Pose2dWithCurvature.h similarity index 98% rename from src/include/mathematics/geometry/Pose2dWithCurvature.h rename to src/include/fl/mathematics/geometry/Pose2dWithCurvature.h index 499fde0..ce6b05a 100644 --- a/src/include/mathematics/geometry/Pose2dWithCurvature.h +++ b/src/include/fl/mathematics/geometry/Pose2dWithCurvature.h @@ -3,7 +3,7 @@ #include #include "Pose2d.h" -namespace frc5190 { +namespace fl { class Pose2dWithCurvature final : public VaryInterpolatable { public: // Constructors diff --git a/src/include/mathematics/geometry/Rotation2d.h b/src/include/fl/mathematics/geometry/Rotation2d.h similarity index 96% rename from src/include/mathematics/geometry/Rotation2d.h rename to src/include/fl/mathematics/geometry/Rotation2d.h index ade3336..6d76347 100644 --- a/src/include/mathematics/geometry/Rotation2d.h +++ b/src/include/fl/mathematics/geometry/Rotation2d.h @@ -1,9 +1,9 @@ #pragma once #include -#include "../../Utilities.h" +#include "fl/Utilities.h" -namespace frc5190 { +namespace fl { class Rotation2d final { public: // Constructors diff --git a/src/include/mathematics/geometry/Translation2d.h b/src/include/fl/mathematics/geometry/Translation2d.h similarity index 96% rename from src/include/mathematics/geometry/Translation2d.h rename to src/include/fl/mathematics/geometry/Translation2d.h index f7067ae..083995d 100644 --- a/src/include/mathematics/geometry/Translation2d.h +++ b/src/include/fl/mathematics/geometry/Translation2d.h @@ -2,10 +2,10 @@ #include -#include "../../types/VaryInterpolatable.h" +#include "fl/types/VaryInterpolatable.h" #include "Rotation2d.h" -namespace frc5190 { +namespace fl { class Translation2d final : public VaryInterpolatable { public: diff --git a/src/include/mathematics/geometry/Twist2d.h b/src/include/fl/mathematics/geometry/Twist2d.h similarity index 97% rename from src/include/mathematics/geometry/Twist2d.h rename to src/include/fl/mathematics/geometry/Twist2d.h index b9c61b3..22957a4 100644 --- a/src/include/mathematics/geometry/Twist2d.h +++ b/src/include/fl/mathematics/geometry/Twist2d.h @@ -2,7 +2,7 @@ #include -namespace frc5190 { +namespace fl { class Twist2d { public: // Constructors diff --git a/src/include/mathematics/spline/ParametricQuinticHermiteSpline.h b/src/include/fl/mathematics/spline/ParametricQuinticHermiteSpline.h similarity index 99% rename from src/include/mathematics/spline/ParametricQuinticHermiteSpline.h rename to src/include/fl/mathematics/spline/ParametricQuinticHermiteSpline.h index cd4924d..c854804 100644 --- a/src/include/mathematics/spline/ParametricQuinticHermiteSpline.h +++ b/src/include/fl/mathematics/spline/ParametricQuinticHermiteSpline.h @@ -2,7 +2,7 @@ #include "ParametricSpline.h" -namespace frc5190 { +namespace fl { class ParametricQuinticHermiteSpline final : public ParametricSpline { public: ParametricQuinticHermiteSpline(const Pose2d& start, const Pose2d& end) { diff --git a/src/include/mathematics/spline/ParametricSpline.h b/src/include/fl/mathematics/spline/ParametricSpline.h similarity index 89% rename from src/include/mathematics/spline/ParametricSpline.h rename to src/include/fl/mathematics/spline/ParametricSpline.h index abda088..847e564 100644 --- a/src/include/mathematics/spline/ParametricSpline.h +++ b/src/include/fl/mathematics/spline/ParametricSpline.h @@ -1,7 +1,7 @@ #pragma once -#include "../geometry/Pose2dWithCurvature.h" +#include "fl/mathematics/geometry/Pose2dWithCurvature.h" -namespace frc5190 { +namespace fl { class ParametricSpline { public: virtual Translation2d Point(double t) const = 0; diff --git a/src/include/mathematics/spline/SplineGenerator.h b/src/include/fl/mathematics/spline/SplineGenerator.h similarity index 97% rename from src/include/mathematics/spline/SplineGenerator.h rename to src/include/fl/mathematics/spline/SplineGenerator.h index 6b47137..98fe780 100644 --- a/src/include/mathematics/spline/SplineGenerator.h +++ b/src/include/fl/mathematics/spline/SplineGenerator.h @@ -3,10 +3,10 @@ #include #include -#include "../geometry/Pose2dWithCurvature.h" +#include "fl/mathematics/geometry/Pose2dWithCurvature.h" #include "ParametricSpline.h" -namespace frc5190 { +namespace fl { constexpr static double kMinSampleSize = 1.; class SplineGenerator { diff --git a/src/include/mathematics/trajectory/DistanceTrajectory.h b/src/include/fl/mathematics/trajectory/DistanceTrajectory.h similarity index 99% rename from src/include/mathematics/trajectory/DistanceTrajectory.h rename to src/include/fl/mathematics/trajectory/DistanceTrajectory.h index e37134c..c34ffda 100644 --- a/src/include/mathematics/trajectory/DistanceTrajectory.h +++ b/src/include/fl/mathematics/trajectory/DistanceTrajectory.h @@ -2,7 +2,7 @@ #include "TrajectoryIterator.h" -namespace frc5190 { +namespace fl { template class DistanceIterator : public TrajectoryIterator { public: diff --git a/src/include/mathematics/trajectory/IndexedTrajectory.h b/src/include/fl/mathematics/trajectory/IndexedTrajectory.h similarity index 99% rename from src/include/mathematics/trajectory/IndexedTrajectory.h rename to src/include/fl/mathematics/trajectory/IndexedTrajectory.h index 9fceab0..36d9991 100644 --- a/src/include/mathematics/trajectory/IndexedTrajectory.h +++ b/src/include/fl/mathematics/trajectory/IndexedTrajectory.h @@ -6,7 +6,7 @@ #include #include -namespace frc5190 { +namespace fl { constexpr double kLowestDouble = std::numeric_limits::lowest(); diff --git a/src/include/mathematics/trajectory/TimedTrajectory.h b/src/include/fl/mathematics/trajectory/TimedTrajectory.h similarity index 98% rename from src/include/mathematics/trajectory/TimedTrajectory.h rename to src/include/fl/mathematics/trajectory/TimedTrajectory.h index e9be659..d948d0b 100644 --- a/src/include/mathematics/trajectory/TimedTrajectory.h +++ b/src/include/fl/mathematics/trajectory/TimedTrajectory.h @@ -1,9 +1,9 @@ #pragma once -#include "../../types/VaryInterpolatable.h" +#include "fl/types/VaryInterpolatable.h" #include "TrajectoryIterator.h" -namespace frc5190 { +namespace fl { template class TimedEntry final : public VaryInterpolatable> { public: diff --git a/src/include/mathematics/trajectory/Trajectory.h b/src/include/fl/mathematics/trajectory/Trajectory.h similarity index 96% rename from src/include/mathematics/trajectory/Trajectory.h rename to src/include/fl/mathematics/trajectory/Trajectory.h index 4482fc5..072a37a 100644 --- a/src/include/mathematics/trajectory/Trajectory.h +++ b/src/include/fl/mathematics/trajectory/Trajectory.h @@ -3,7 +3,7 @@ #include #include -namespace frc5190 { +namespace fl { template struct TrajectoryPoint { diff --git a/src/include/mathematics/trajectory/TrajectoryGenerator.h b/src/include/fl/mathematics/trajectory/TrajectoryGenerator.h similarity index 98% rename from src/include/mathematics/trajectory/TrajectoryGenerator.h rename to src/include/fl/mathematics/trajectory/TrajectoryGenerator.h index ef4ba8d..b1cbf41 100644 --- a/src/include/mathematics/trajectory/TrajectoryGenerator.h +++ b/src/include/fl/mathematics/trajectory/TrajectoryGenerator.h @@ -2,15 +2,15 @@ #include -#include "../geometry/Pose2dWithCurvature.h" -#include "../spline/ParametricQuinticHermiteSpline.h" -#include "../spline/SplineGenerator.h" +#include "fl/mathematics/geometry/Pose2dWithCurvature.h" +#include "fl/mathematics/spline/ParametricQuinticHermiteSpline.h" +#include "fl/mathematics/spline/SplineGenerator.h" #include "DistanceTrajectory.h" #include "IndexedTrajectory.h" #include "TimedTrajectory.h" #include "constraints/TimingConstraint.h" -namespace frc5190 { +namespace fl { class TrajectoryGenerator { using Constraints = std::vector*>; diff --git a/src/include/mathematics/trajectory/TrajectoryIterator.h b/src/include/fl/mathematics/trajectory/TrajectoryIterator.h similarity index 94% rename from src/include/mathematics/trajectory/TrajectoryIterator.h rename to src/include/fl/mathematics/trajectory/TrajectoryIterator.h index 23a08a7..e349afc 100644 --- a/src/include/mathematics/trajectory/TrajectoryIterator.h +++ b/src/include/fl/mathematics/trajectory/TrajectoryIterator.h @@ -1,9 +1,9 @@ #pragma once -#include "../../Utilities.h" +#include "fl/Utilities.h" #include "Trajectory.h" -namespace frc5190 { +namespace fl { template class TrajectoryIterator { public: diff --git a/src/include/mathematics/trajectory/constraints/AngularAccelerationConstraint.h b/src/include/fl/mathematics/trajectory/constraints/AngularAccelerationConstraint.h similarity index 89% rename from src/include/mathematics/trajectory/constraints/AngularAccelerationConstraint.h rename to src/include/fl/mathematics/trajectory/constraints/AngularAccelerationConstraint.h index 08b7f7c..802a24d 100644 --- a/src/include/mathematics/trajectory/constraints/AngularAccelerationConstraint.h +++ b/src/include/fl/mathematics/trajectory/constraints/AngularAccelerationConstraint.h @@ -1,9 +1,9 @@ #pragma once -#include "../../geometry/Pose2dWithCurvature.h" +#include "fl/mathematics/geometry/Pose2dWithCurvature.h" #include "TimingConstraint.h" -namespace frc5190 { +namespace fl { class AngularAccelerationConstraint final : public TimingConstraint { public: @@ -22,7 +22,7 @@ class AngularAccelerationConstraint final : public TimingConstraint { public: @@ -16,7 +16,7 @@ class CentripetalAccelerationConstraint final : public TimingConstraint -namespace frc5190 { +namespace fl { struct MinMaxAcceleration { double min_acceleration; diff --git a/src/include/mathematics/trajectory/constraints/VelocityLimitRadiusConstraint.h b/src/include/fl/mathematics/trajectory/constraints/VelocityLimitRadiusConstraint.h similarity index 84% rename from src/include/mathematics/trajectory/constraints/VelocityLimitRadiusConstraint.h rename to src/include/fl/mathematics/trajectory/constraints/VelocityLimitRadiusConstraint.h index 789c200..2c76a47 100644 --- a/src/include/mathematics/trajectory/constraints/VelocityLimitRadiusConstraint.h +++ b/src/include/fl/mathematics/trajectory/constraints/VelocityLimitRadiusConstraint.h @@ -1,9 +1,9 @@ #pragma once -#include "../../geometry/Pose2dWithCurvature.h" +#include "fl/mathematics/geometry/Pose2dWithCurvature.h" #include "TimingConstraint.h" -namespace frc5190 { +namespace fl { class VelocityLimitRadiusConstraint : public TimingConstraint { public: @@ -19,7 +19,7 @@ class VelocityLimitRadiusConstraint : public TimingConstraint::max(); } - frc5190::MinMaxAcceleration MinMaxAcceleration(const Pose2dWithCurvature& state, + fl::MinMaxAcceleration MinMaxAcceleration(const Pose2dWithCurvature& state, double velocity) const override { return kNoLimits; } diff --git a/src/include/types/Interpolatable.h b/src/include/fl/types/Interpolatable.h similarity index 90% rename from src/include/types/Interpolatable.h rename to src/include/fl/types/Interpolatable.h index 714b5f1..f7ad0ac 100644 --- a/src/include/types/Interpolatable.h +++ b/src/include/fl/types/Interpolatable.h @@ -1,8 +1,8 @@ #pragma once -#include "Utilities.h" +#include "fl/Utilities.h" -namespace frc5190 { +namespace fl { template class Interpolatable { public: diff --git a/src/include/types/VaryInterpolatable.h b/src/include/fl/types/VaryInterpolatable.h similarity index 91% rename from src/include/types/VaryInterpolatable.h rename to src/include/fl/types/VaryInterpolatable.h index 90c94de..ded1dcb 100644 --- a/src/include/types/VaryInterpolatable.h +++ b/src/include/fl/types/VaryInterpolatable.h @@ -2,7 +2,7 @@ #include "Interpolatable.h" -namespace frc5190 { +namespace fl { template class VaryInterpolatable : public Interpolatable { public: diff --git a/src/test/cpp/geometry-tests.cpp b/src/test/cpp/geometry-tests.cpp index e349ed4..472c9db 100644 --- a/src/test/cpp/geometry-tests.cpp +++ b/src/test/cpp/geometry-tests.cpp @@ -4,19 +4,19 @@ constexpr double kTestEpsilon = 1E-9; TEST(TestRotation2d, TestRotation2d) { - auto rot = frc5190::Rotation2d(); + auto rot = fl::Rotation2d(); EXPECT_EQ(1.0, rot.Cos()); EXPECT_EQ(0.0, rot.Sin()); EXPECT_EQ(0.0, rot.Tan()); EXPECT_EQ(0.0, rot.Radians()); EXPECT_EQ(0.0, rot.Degrees()); - rot = frc5190::Rotation2d(1, 1, true); + rot = fl::Rotation2d(1, 1, true); EXPECT_NEAR(std::sqrt(2) / 2, rot.Cos(), kTestEpsilon); EXPECT_NEAR(std::sqrt(2) / 2, rot.Sin(), kTestEpsilon); EXPECT_NEAR(1.0, rot.Tan(), kTestEpsilon); EXPECT_NEAR(45.0, rot.Degrees(), kTestEpsilon); - EXPECT_NEAR(frc5190::kPi / 4, rot.Radians(), kTestEpsilon); + EXPECT_NEAR(fl::kPi / 4, rot.Radians(), kTestEpsilon); - auto twist = frc5190::Twist2d(); + auto twist = fl::Twist2d(); } \ No newline at end of file diff --git a/src/test/cpp/ramsete-tests.cpp b/src/test/cpp/ramsete-tests.cpp index 3f4fd10..f1c4bc9 100644 --- a/src/test/cpp/ramsete-tests.cpp +++ b/src/test/cpp/ramsete-tests.cpp @@ -3,19 +3,19 @@ class RamseteTest : public ::testing::Test { public: - void Run(frc5190::Pose2d initial, frc5190::Pose2d final, double max_velocity = 3, + void Run(fl::Pose2d initial, fl::Pose2d final, double max_velocity = 3, double max_acceleration = 2, bool backwards = false) { - auto trajectory = frc5190::TrajectoryGenerator::GenerateTrajectory( - std::vector{initial, final}, - std::vector*>{}, 0.0, 0.0, max_velocity, + auto trajectory = fl::TrajectoryGenerator::GenerateTrajectory( + std::vector{initial, final}, + std::vector*>{}, 0.0, 0.0, max_velocity, max_acceleration, backwards); - frc5190::RamseteTracker tracker{2.0, 0.7}; + fl::RamseteTracker tracker{2.0, 0.7}; tracker.Reset(trajectory); } }; TEST_F(RamseteTest, Test) { - Run(frc5190::Pose2d{0.0, 0.0, frc5190::Rotation2d::FromDegrees(0.0)}, - frc5190::Pose2d{10.0, 10.0, frc5190::Rotation2d::FromDegrees(50.0)}); + Run(fl::Pose2d{0.0, 0.0, fl::Rotation2d::FromDegrees(0.0)}, + fl::Pose2d{10.0, 10.0, fl::Rotation2d::FromDegrees(50.0)}); } \ No newline at end of file diff --git a/src/test/cpp/trajectory-tests.cpp b/src/test/cpp/trajectory-tests.cpp index e7b7841..8030b0d 100644 --- a/src/test/cpp/trajectory-tests.cpp +++ b/src/test/cpp/trajectory-tests.cpp @@ -7,14 +7,14 @@ class TrajectoryTest : public ::testing::Test { public: TrajectoryTest() {} - void Run(frc5190::Pose2d initial, - frc5190::Pose2d final, + void Run(fl::Pose2d initial, + fl::Pose2d final, double max_velocity = 3, double max_acceleration = 2, bool backwards = false) { - auto trajectory = frc5190::TrajectoryGenerator::GenerateTrajectory( - std::vector{initial, final}, - std::vector*>{}, + auto trajectory = fl::TrajectoryGenerator::GenerateTrajectory( + std::vector{initial, final}, + std::vector*>{}, 0.0, 0.0, max_velocity, @@ -61,6 +61,6 @@ class TrajectoryTest : public ::testing::Test { }; TEST_F(TrajectoryTest, Curve) { - Run(frc5190::Pose2d{0.0, 0.0, frc5190::Rotation2d::FromDegrees(0.0)}, - frc5190::Pose2d{10.0, 10.0, frc5190::Rotation2d::FromDegrees(50.0)}); + Run(fl::Pose2d{0.0, 0.0, fl::Rotation2d::FromDegrees(0.0)}, + fl::Pose2d{10.0, 10.0, fl::Rotation2d::FromDegrees(50.0)}); }