Added distance interpolation table for vision
Change-Id: I20077eb38c0c3fa91c4e2b6dc32a1bd7233e7ebf
diff --git a/frc971/shooter_interpolation/interpolation_test.cc b/frc971/shooter_interpolation/interpolation_test.cc
new file mode 100644
index 0000000..120975d
--- /dev/null
+++ b/frc971/shooter_interpolation/interpolation_test.cc
@@ -0,0 +1,55 @@
+#include <unistd.h>
+
+#include <memory>
+#include <random>
+#include <utility>
+
+#include "gtest/gtest.h"
+
+#include "frc971/shooter_interpolation/interpolation.h"
+
+namespace frc971 {
+namespace shooter_interpolation {
+
+bool operator==(ShotParams a1, ShotParams a2) {
+ return a1.angle == a2.angle && a1.power == a2.power;
+}
+
+// Tests to see if distances whose values are on the table are processed
+// correctly
+TEST(InterpolationTable, ExactNumbers) {
+ ::std::vector<::std::pair<double, ShotParams>> data{
+ {1, {10, 10}}, {3, {20, 20}}, {2, {15, 12345678}}, {4, {10, 567.323}},
+ };
+
+ InterpolationTable interpolation(data);
+ ASSERT_EQ(data[1].second, interpolation.GetShooterData(3));
+ ASSERT_EQ(data[3].second, interpolation.GetShooterData(4));
+}
+
+// Tests to see if distances whose values are off the table are processed
+// correctly
+TEST(InterpolationTable, InexactNumbers) {
+ ::std::vector<::std::pair<double, ShotParams>> data{
+ {1, {10, 10}}, {3, {20, 20}}, {2, {15, 15}}, {4, {10, 567.323}},
+ };
+
+ InterpolationTable interpolation(data);
+ ASSERT_EQ(ShotParams({12.5, 12.5}), interpolation.GetShooterData(1.5));
+ ASSERT_EQ(ShotParams({10, 10}), interpolation.GetShooterData(0));
+}
+
+// Tests to see if distances whose values are beyond the range of the table are
+// processed correctly
+TEST(InterpolationTable, OutOfScopeNumbers) {
+ ::std::vector<::std::pair<double, ShotParams>> data{
+ {1, {10, 10}}, {3, {20, 20}}, {2, {15, 12345678}}, {4, {10, 567.323}},
+ };
+
+ InterpolationTable interpolation(data);
+ ASSERT_EQ(ShotParams({10, 10}), interpolation.GetShooterData(0));
+ ASSERT_EQ(ShotParams({10, 567.323}), interpolation.GetShooterData(5));
+}
+
+} // namespace shooter_interpolation
+} // namespace frc971