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fix vision test for new softer vision constants #140

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merged 1 commit into from
Mar 15, 2025
Merged

fix vision test for new softer vision constants #140

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17 changes: 6 additions & 11 deletions lib/src/test/java/org/team100/lib/localization/SwerveDrivePoseEstimator100Test.java
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Original file line number Diff line number Diff line change
Expand Up @@ -69,13 +69,11 @@ void nolog() {

@Test
void testVisionStdDevs() {
// these are the "antijitter" values.
// 2 cm, somewhat higher than reality
double targetRangeM = 1.0;
double[] visionStdDev = VisionDataProvider24.visionMeasurementStdDevs(targetRangeM);
assertEquals(3, visionStdDev.length);
assertEquals(0.02, visionStdDev[0], kDelta);
assertEquals(0.02, visionStdDev[1], kDelta);
assertEquals(0.04, visionStdDev[0], kDelta);
assertEquals(0.04, visionStdDev[1], kDelta);
assertEquals(Double.MAX_VALUE, visionStdDev[2], kDelta);
}

Expand All @@ -97,11 +95,8 @@ void testK() {
double[] visionStdDev = VisionDataProvider24.visionMeasurementStdDevs(targetRangeM);
double[] k = SwerveDrivePoseEstimator100.getK(stateStdDev, visionStdDev);
assertEquals(3, k.length);
// state = 5 mm, vision = 100 mm, so k should be like 0.05
assertEquals(0.048, k[0], kDelta);
assertEquals(0.048, k[1], kDelta);
// state = something finite, vision = infinity, so k should be zero, i.e. ignore
// vision rotation
assertEquals(0.024, k[0], kDelta);
assertEquals(0.024, k[1], kDelta);
assertEquals(0, k[2], kDelta);
}

Expand All @@ -125,8 +120,8 @@ void testScaledTwist() {
Twist2d twist = new Twist2d(0.1, 0.1, 0);
Twist2d scaled = SwerveDrivePoseEstimator100.getScaledTwist(stateStdDev, visionStdDev, twist);
// difference is discounted 20x
assertEquals(0.004762, scaled.dx, 1e-6);
assertEquals(0.004762, scaled.dy, 1e-6);
assertEquals(0.002439, scaled.dx, 1e-6);
assertEquals(0.002439, scaled.dy, 1e-6);
assertEquals(0, scaled.dtheta, 1e-6);
}

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