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[wpimath] Fix pose estimator reset methods #7225

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Oct 18, 2024
Merged

[wpimath] Fix pose estimator reset methods #7225

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6 changes: 6 additions & 0 deletions wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -134,6 +134,8 @@ public void resetPosition(Rotation2d gyroAngle, T wheelPositions, Pose2d poseMet
public void resetPose(Pose2d pose) {
m_odometry.resetPose(pose);
m_odometryPoseBuffer.clear();
m_visionUpdates.clear();
m_poseEstimate = m_odometry.getPoseMeters();
}

/**
Expand All @@ -144,6 +146,8 @@ public void resetPose(Pose2d pose) {
public void resetTranslation(Translation2d translation) {
m_odometry.resetTranslation(translation);
m_odometryPoseBuffer.clear();
m_visionUpdates.clear();
m_poseEstimate = m_odometry.getPoseMeters();
}

/**
Expand All @@ -154,6 +158,8 @@ public void resetTranslation(Translation2d translation) {
public void resetRotation(Rotation2d rotation) {
m_odometry.resetRotation(rotation);
m_odometryPoseBuffer.clear();
m_visionUpdates.clear();
m_poseEstimate = m_odometry.getPoseMeters();
}

/**
Expand Down
6 changes: 6 additions & 0 deletions wpimath/src/main/native/include/frc/estimator/PoseEstimator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -124,6 +124,8 @@ class WPILIB_DLLEXPORT PoseEstimator {
void ResetPose(const Pose2d& pose) {
m_odometry.ResetPose(pose);
m_odometryPoseBuffer.Clear();
m_visionUpdates.clear();
m_poseEstimate = m_odometry.GetPose();
}

/**
Expand All @@ -134,6 +136,8 @@ class WPILIB_DLLEXPORT PoseEstimator {
void ResetTranslation(const Translation2d& translation) {
m_odometry.ResetTranslation(translation);
m_odometryPoseBuffer.Clear();
m_visionUpdates.clear();
m_poseEstimate = m_odometry.GetPose();
}

/**
Expand All @@ -144,6 +148,8 @@ class WPILIB_DLLEXPORT PoseEstimator {
void ResetRotation(const Rotation2d& rotation) {
m_odometry.ResetRotation(rotation);
m_odometryPoseBuffer.Clear();
m_visionUpdates.clear();
m_poseEstimate = m_odometry.GetPose();
}

/**
Expand Down
80 changes: 80 additions & 0 deletions wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@

package edu.wpi.first.math.estimator;

import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;

Expand All @@ -25,6 +26,8 @@
import org.junit.jupiter.api.Test;

class DifferentialDrivePoseEstimatorTest {
private static final double kEpsilon = 1e-9;

@Test
void testAccuracy() {
var kinematics = new DifferentialDriveKinematics(1);
Expand Down Expand Up @@ -355,4 +358,81 @@ void testSampleAt() {
assertEquals(Optional.of(new Pose2d(1, 0.1, Rotation2d.kZero)), estimator.sampleAt(0.5));
assertEquals(Optional.of(new Pose2d(2, 0.1, Rotation2d.kZero)), estimator.sampleAt(2.5));
}

@Test
void testReset() {
var kinematics = new DifferentialDriveKinematics(1);
var estimator =
new DifferentialDrivePoseEstimator(
kinematics,
Rotation2d.kZero,
0,
0,
Pose2d.kZero,
VecBuilder.fill(1, 1, 1),
VecBuilder.fill(1, 1, 1));

// Test reset position
estimator.resetPosition(Rotation2d.kZero, 1, 1, new Pose2d(1, 0, Rotation2d.kZero));

assertAll(
() -> assertEquals(1, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(0, estimator.getEstimatedPosition().getRotation().getRadians(), kEpsilon));

// Test orientation and wheel positions
estimator.update(Rotation2d.kZero, 2, 2);

assertAll(
() -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(0, estimator.getEstimatedPosition().getRotation().getRadians(), kEpsilon));

// Test reset rotation
estimator.resetRotation(Rotation2d.kCCW_Pi_2);

assertAll(
() -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(
Math.PI / 2,
estimator.getEstimatedPosition().getRotation().getRadians(),
kEpsilon));

// Test orientation
estimator.update(Rotation2d.kZero, 3, 3);

assertAll(
() -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(1, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(
Math.PI / 2,
estimator.getEstimatedPosition().getRotation().getRadians(),
kEpsilon));

// Test reset translation
estimator.resetTranslation(new Translation2d(-1, -1));

assertAll(
() -> assertEquals(-1, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(-1, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(
Math.PI / 2,
estimator.getEstimatedPosition().getRotation().getRadians(),
kEpsilon));

// Test reset pose
estimator.resetPose(Pose2d.kZero);

assertAll(
() -> assertEquals(0, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(0, estimator.getEstimatedPosition().getRotation().getRadians(), kEpsilon));
}
}
87 changes: 87 additions & 0 deletions wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@

package edu.wpi.first.math.estimator;

import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;

Expand All @@ -26,6 +27,8 @@
import org.junit.jupiter.api.Test;

class MecanumDrivePoseEstimatorTest {
private static final double kEpsilon = 1e-9;

@Test
void testAccuracyFacingTrajectory() {
var kinematics =
Expand Down Expand Up @@ -377,4 +380,88 @@ void testSampleAt() {
assertEquals(Optional.of(new Pose2d(1, 0.1, Rotation2d.kZero)), estimator.sampleAt(0.5));
assertEquals(Optional.of(new Pose2d(2, 0.1, Rotation2d.kZero)), estimator.sampleAt(2.5));
}

@Test
void testReset() {
var kinematics =
new MecanumDriveKinematics(
new Translation2d(1, 1),
new Translation2d(-1, 1),
new Translation2d(1, -1),
new Translation2d(-1, -1));
var estimator =
new MecanumDrivePoseEstimator(
kinematics,
Rotation2d.kZero,
new MecanumDriveWheelPositions(),
Pose2d.kZero,
VecBuilder.fill(1, 1, 1),
VecBuilder.fill(1, 1, 1));

// Test reset position
estimator.resetPosition(
Rotation2d.kZero,
new MecanumDriveWheelPositions(1, 1, 1, 1),
new Pose2d(1, 0, Rotation2d.kZero));

assertAll(
() -> assertEquals(1, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(0, estimator.getEstimatedPosition().getRotation().getRadians(), kEpsilon));

// Test orientation and wheel positions
estimator.update(Rotation2d.kZero, new MecanumDriveWheelPositions(2, 2, 2, 2));

assertAll(
() -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(0, estimator.getEstimatedPosition().getRotation().getRadians(), kEpsilon));

// Test reset rotation
estimator.resetRotation(Rotation2d.kCCW_Pi_2);

assertAll(
() -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(
Math.PI / 2,
estimator.getEstimatedPosition().getRotation().getRadians(),
kEpsilon));

// Test orientation
estimator.update(Rotation2d.kZero, new MecanumDriveWheelPositions(3, 3, 3, 3));

assertAll(
() -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(1, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(
Math.PI / 2,
estimator.getEstimatedPosition().getRotation().getRadians(),
kEpsilon));

// Test reset translation
estimator.resetTranslation(new Translation2d(-1, -1));

assertAll(
() -> assertEquals(-1, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(-1, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(
Math.PI / 2,
estimator.getEstimatedPosition().getRotation().getRadians(),
kEpsilon));

// Test reset pose
estimator.resetPose(Pose2d.kZero);

assertAll(
() -> assertEquals(0, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(0, estimator.getEstimatedPosition().getRotation().getRadians(), kEpsilon));
}
}
111 changes: 111 additions & 0 deletions wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@

package edu.wpi.first.math.estimator;

import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;

Expand All @@ -26,6 +27,8 @@
import org.junit.jupiter.api.Test;

class SwerveDrivePoseEstimatorTest {
private static final double kEpsilon = 1e-9;

@Test
void testAccuracyFacingTrajectory() {
var kinematics =
Expand Down Expand Up @@ -422,4 +425,112 @@ void testSampleAt() {
assertEquals(Optional.of(new Pose2d(1, 0.1, Rotation2d.kZero)), estimator.sampleAt(0.5));
assertEquals(Optional.of(new Pose2d(2, 0.1, Rotation2d.kZero)), estimator.sampleAt(2.5));
}

@Test
void testReset() {
var kinematics =
new SwerveDriveKinematics(
new Translation2d(1, 1),
new Translation2d(-1, 1),
new Translation2d(1, -1),
new Translation2d(-1, -1));
var estimator =
new SwerveDrivePoseEstimator(
kinematics,
Rotation2d.kZero,
new SwerveModulePosition[] {
new SwerveModulePosition(),
new SwerveModulePosition(),
new SwerveModulePosition(),
new SwerveModulePosition()
},
Pose2d.kZero,
VecBuilder.fill(1, 1, 1),
VecBuilder.fill(1, 1, 1));

// Test reset position
{
var modulePosition = new SwerveModulePosition(1, Rotation2d.kZero);
estimator.resetPosition(
Rotation2d.kZero,
new SwerveModulePosition[] {
modulePosition, modulePosition, modulePosition, modulePosition
},
new Pose2d(1, 0, Rotation2d.kZero));
}

assertAll(
() -> assertEquals(1, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(0, estimator.getEstimatedPosition().getRotation().getRadians(), kEpsilon));

// Test orientation and wheel positions
{
var modulePosition = new SwerveModulePosition(2, Rotation2d.kZero);
estimator.update(
Rotation2d.kZero,
new SwerveModulePosition[] {
modulePosition, modulePosition, modulePosition, modulePosition
});
}

assertAll(
() -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(0, estimator.getEstimatedPosition().getRotation().getRadians(), kEpsilon));

// Test reset rotation
estimator.resetRotation(Rotation2d.kCCW_Pi_2);

assertAll(
() -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(
Math.PI / 2,
estimator.getEstimatedPosition().getRotation().getRadians(),
kEpsilon));

// Test orientation
{
var modulePosition = new SwerveModulePosition(3, Rotation2d.kZero);
estimator.update(
Rotation2d.kZero,
new SwerveModulePosition[] {
modulePosition, modulePosition, modulePosition, modulePosition
});
}

assertAll(
() -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(1, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(
Math.PI / 2,
estimator.getEstimatedPosition().getRotation().getRadians(),
kEpsilon));

// Test reset translation
estimator.resetTranslation(new Translation2d(-1, -1));

assertAll(
() -> assertEquals(-1, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(-1, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(
Math.PI / 2,
estimator.getEstimatedPosition().getRotation().getRadians(),
kEpsilon));

// Test reset pose
estimator.resetPose(Pose2d.kZero);

assertAll(
() -> assertEquals(0, estimator.getEstimatedPosition().getX(), kEpsilon),
() -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
() ->
assertEquals(0, estimator.getEstimatedPosition().getRotation().getRadians(), kEpsilon));
}
}
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