Refactor AngularVelocity/Acceleration classes

src/proto/message_translation/er_force_world_test.cpp

@@ -2,6 +2,7 @@
 
 #include <gtest/gtest.h>
 
+#include "software/geom/angular_velocity.h"
 #include "software/test_util/test_util.h"
 
 
@@ -47,7 +48,7 @@ TEST(ErForceWorldTest, test_create_robot)
     const Point expected_pos(sim_robot->p_x(), sim_robot->p_y());
     const Vector expected_vel(sim_robot->v_x(), sim_robot->v_y());
     RobotState expected_state(expected_pos, expected_vel, Angle::zero(),
-                              Angle::fromRadians(5.0));
+                              AngularVelocity::fromRadians(5.0));
     EXPECT_EQ(0, test_robot.id());
     EXPECT_TRUE(TestUtil::equalWithinTolerance(test_robot.currentState(), expected_state,
                                                1e-6, Angle::fromDegrees(0)));

src/proto/message_translation/tbots_geometry_test.cpp

@@ -16,7 +16,7 @@ TEST(TbotsProtobufTest, point_msg_test)
 
 TEST(TbotsProtobufTest, angular_velocity_msg_test)
 {
-    auto angular_velocity     = Angle::fromRadians(4.20);
+    auto angular_velocity     = AngularVelocity::fromRadians(4.20);
     auto angular_velocity_msg = createAngularVelocityProto(angular_velocity);
 
     EXPECT_EQ(angular_velocity_msg->radians_per_second(), angular_velocity.toRadians());

src/proto/message_translation/tbots_protobuf.cpp

@@ -1,6 +1,7 @@
 #include "proto/message_translation/tbots_protobuf.h"
 
 #include "software/ai/navigator/trajectory/bang_bang_trajectory_1d_angular.h"
+#include "software/geom/angular_acceleration.h"
 #include "software/logger/logger.h"
 
 
@@ -482,9 +483,9 @@ BangBangTrajectory1DAngular createAngularTrajectoryFromParams(
         createAngle(params.start_angle()), createAngle(params.final_angle()),
         initial_velocity,
         AngularVelocity::fromRadians(robot_constants.robot_max_ang_speed_rad_per_s),
-        AngularVelocity::fromRadians(
+        AngularAcceleration::fromRadians(
             robot_constants.robot_max_ang_acceleration_rad_per_s_2),
-        AngularVelocity::fromRadians(
+        AngularAcceleration::fromRadians(
             robot_constants.robot_max_ang_acceleration_rad_per_s_2));
 }
 

src/proto/message_translation/tbots_protobuf_test.cpp

@@ -121,7 +121,7 @@ TEST(TbotsProtobufTest, robot_state_msg_test)
     auto position         = Point(4.20, 4.20);
     auto velocity         = Vector(4.20, 4.20);
     auto orientation      = Angle::fromRadians(4.20);
-    auto angular_velocity = Angle::fromRadians(4.20);
+    auto angular_velocity = AngularVelocity::fromRadians(4.20);
 
     Robot robot(0, position, velocity, orientation, angular_velocity,
                 Timestamp::fromSeconds(0));

src/software/ai/hl/stp/play/passing_sim_test.py

@@ -67,8 +67,8 @@ def setup_pass_and_robots(
                     index,
                     location,
                     tbots_cpp.Vector(0.0, 0.0),
-                    tbots_cpp.Angle.fromRadians(0),
                     tbots_cpp.Angle(),
+                    tbots_cpp.AngularVelocity(),
                     tbots_cpp.Timestamp(),
                 )
                 for index, location in enumerate(blue_robot_locations)
@@ -80,8 +80,8 @@ def setup_pass_and_robots(
                     index,
                     location,
                     tbots_cpp.Vector(0.0, 0.0),
-                    tbots_cpp.Angle.fromRadians(0),
                     tbots_cpp.Angle(),
+                    tbots_cpp.AngularVelocity(),
                     tbots_cpp.Timestamp(),
                 )
                 for index, location in enumerate(enemy_robot_positions)

src/software/ai/hl/stp/tactic/attacker/attacker_tactic_keep_away_test.cpp

@@ -196,7 +196,7 @@ INSTANTIATE_TEST_CASE_P(
             // the state of the friendly robot
             RobotStateWithId{
                 1, RobotState(Point(0.25, 0), Vector(0, 0), Angle::fromDegrees(180),
-                              Angle::fromDegrees(0))},
+                              AngularVelocity::fromDegrees(0))},
             // the state of the ball
             BallState(Point(0., 0.), Vector(0, 0)),
             // the states of the enemy robots
@@ -227,8 +227,9 @@ INSTANTIATE_TEST_CASE_P(
             Pass(Point(FIELD_TOP_LEFT.x() + 0.05, FIELD_TOP_LEFT.y() - 0.05), Point(0, 0),
                  5),
             // the state of the friendly robot
-            RobotStateWithId{1, RobotState(FIELD_TOP_LEFT, Vector(0, 0),
-                                           Angle::fromDegrees(0), Angle::fromDegrees(0))},
+            RobotStateWithId{
+                1, RobotState(FIELD_TOP_LEFT, Vector(0, 0), Angle::fromDegrees(0),
+                              AngularVelocity::fromDegrees(0))},
             // the state of the ball
             BallState(Point(FIELD_TOP_LEFT.x() + 0.05, FIELD_TOP_LEFT.y() - 0.2),
                       Vector(0, 0)),

src/software/ai/hl/stp/tactic/attacker/attacker_tactic_passing_test.cpp

@@ -5,6 +5,7 @@
 #include "software/ai/hl/stp/tactic/attacker/attacker_tactic.h"
 #include "software/ai/hl/stp/tactic/move/move_tactic.h"
 #include "software/geom/algorithms/contains.h"
+#include "software/geom/angular_velocity.h"
 #include "software/simulated_tests/simulated_er_force_sim_play_test_fixture.h"
 #include "software/simulated_tests/terminating_validation_functions/ball_kicked_validation.h"
 #include "software/simulated_tests/terminating_validation_functions/robot_state_validation.h"
@@ -73,23 +74,23 @@ INSTANTIATE_TEST_CASE_P(
         // Stationary Ball Tests
         // Attacker point != Balls location & Balls location != Robots Location
         std::make_tuple(Pass(Point(0.0, 0.5), Point(0, 0), 5),
-                        RobotStateWithId{
-                            1, RobotState(Point(0, 0), Vector(0, 0),
-                                          Angle::fromDegrees(0), Angle::fromDegrees(0))},
+                        RobotStateWithId{1, RobotState(Point(0, 0), Vector(0, 0),
+                                                       Angle::fromDegrees(0),
+                                                       AngularVelocity::fromDegrees(0))},
                         BallState(Point(0.5, 0.5), Vector(0, 0))),
 
         // Attacker point == Balls location & Balls location != Robots Location
         std::make_tuple(Pass(Point(-0.5, -0.5), Point(0, 0), 5),
-                        RobotStateWithId{
-                            1, RobotState(Point(0, 0), Vector(0, 0),
-                                          Angle::fromDegrees(0), Angle::fromDegrees(0))},
+                        RobotStateWithId{1, RobotState(Point(0, 0), Vector(0, 0),
+                                                       Angle::fromDegrees(0),
+                                                       AngularVelocity::fromDegrees(0))},
                         BallState(Point(-0.5, -0.5), Vector(0, 0))),
 
         // Attacker point != Balls location & Balls location == Robots Location
         std::make_tuple(Pass(Point(0.5, 0.5), Point(0, 1), 5),
-                        RobotStateWithId{
-                            1, RobotState(Point(0.5, 0.5), Vector(0, 0),
-                                          Angle::fromDegrees(0), Angle::fromDegrees(0))},
+                        RobotStateWithId{1, RobotState(Point(0.5, 0.5), Vector(0, 0),
+                                                       Angle::fromDegrees(0),
+                                                       AngularVelocity::fromDegrees(0))},
                         BallState(Point(-0.5, 0.5), Vector(0, 0))),
 
         // TODO(#2909) : Enable test once the robot can turn faster and hits the ball with
@@ -103,24 +104,24 @@ INSTANTIATE_TEST_CASE_P(
 
         // Attacker point far away (not a normal use case, but just to sanity check)
         std::make_tuple(Pass(Point(0.0, 0.0), Point(0, 0), 5),
-                        RobotStateWithId{
-                            1, RobotState(Point(3.5, 2.5), Vector(0, 0),
-                                          Angle::fromDegrees(0), Angle::fromDegrees(0))},
+                        RobotStateWithId{1, RobotState(Point(3.5, 2.5), Vector(0, 0),
+                                                       Angle::fromDegrees(0),
+                                                       AngularVelocity::fromDegrees(0))},
                         BallState(Point(0.0, 0.0), Vector(0, 0))),
 
         // Attacker point != Balls location & Balls location != Robots Location
         std::make_tuple(Pass(Point(0.0, 0.5), Point(0, 0), 5),
-                        RobotStateWithId{
-                            1, RobotState(Point(0, 0), Vector(0, 0),
-                                          Angle::fromDegrees(0), Angle::fromDegrees(0))},
+                        RobotStateWithId{1, RobotState(Point(0, 0), Vector(0, 0),
+                                                       Angle::fromDegrees(0),
+                                                       AngularVelocity::fromDegrees(0))},
                         BallState(Point(0.5, 0.5), Vector(0, 0))),
 
         // Moving Ball Tests
         // Attacker point == Balls location & Balls location != Robots Location
         std::make_tuple(Pass(Point(-0.5, -0.5), Point(0, 0), 5),
-                        RobotStateWithId{
-                            1, RobotState(Point(0, 0), Vector(0, 0),
-                                          Angle::fromDegrees(0), Angle::fromDegrees(0))},
+                        RobotStateWithId{1, RobotState(Point(0, 0), Vector(0, 0),
+                                                       Angle::fromDegrees(0),
+                                                       AngularVelocity::fromDegrees(0))},
                         BallState(Point(-0.5, -0.5), Vector(1, 0))),
 
         // TODO (#2859): Robot does not kick ball when dribbler is off since it is
@@ -135,7 +136,7 @@ INSTANTIATE_TEST_CASE_P(
 
         // Attacker point == Balls location & Balls location == Robots Location
         std::make_tuple(Pass(Point(0.0, 0.0), Point(0, 0), 5),
-                        RobotStateWithId{
-                            1, RobotState(Point(0, 0), Vector(0, 0),
-                                          Angle::fromDegrees(0), Angle::fromDegrees(0))},
+                        RobotStateWithId{1, RobotState(Point(0, 0), Vector(0, 0),
+                                                       Angle::fromDegrees(0),
+                                                       AngularVelocity::fromDegrees(0))},
                         BallState(Point(0.0, 0.0), Vector(1, 0)))));

src/software/ai/hl/stp/tactic/move/move_tactic_test.cpp

@@ -159,8 +159,8 @@ TEST_F(MoveTacticTest, test_spinning_move_clockwise)
     BallState ball_state(Point(1, 1), Vector(0, 0));
     auto friendly_robots = {RobotStateWithId{
         .id          = 0,
-        .robot_state = RobotState(initial_position, Vector(0, 0), Angle::zero(),
-                                  AngularVelocity::quarter())}};
+        .robot_state = RobotState(initial_position, Vector(0, 0), -Angle::quarter(),
+                                  AngularVelocity::zero())}};
     auto enemy_robots    = TestUtil::createStationaryRobotStatesWithId({Point(4, 0)});
 
     auto tactic = std::make_shared<MoveTactic>(std::make_shared<TbotsProto::AiConfig>());
@@ -175,8 +175,8 @@ TEST_F(MoveTacticTest, test_spinning_move_clockwise)
         [destination, tactic](std::shared_ptr<World> world_ptr,
                               ValidationCoroutine::push_type& yield)
         {
-            robotAtAngularVelocity(0, world_ptr, AngularVelocity::fromDegrees(1 * 360),
-                                   AngularVelocity::fromDegrees(50), yield);
+            robotAtAngularVelocity(0, world_ptr, AngularVelocity::fromDegrees(10),
+                                   AngularVelocity::fromDegrees(5), yield);
             robotAtPosition(0, world_ptr, destination, 0.05, yield);
             robotAtOrientation(0, world_ptr, Angle::zero(), Angle::fromDegrees(5), yield);
             while (!tactic->done())
@@ -207,7 +207,7 @@ TEST_F(MoveTacticTest, test_spinning_move_counter_clockwise)
     BallState ball_state(Point(1, 1), Vector(0, 0));
     auto friendly_robots = {RobotStateWithId{
         .id          = 0,
-        .robot_state = RobotState(initial_position, Vector(0, 0), Angle::quarter(),
+        .robot_state = RobotState(initial_position, Vector(0, 0), -Angle::quarter(),
                                   AngularVelocity::zero())}};
     auto enemy_robots    = TestUtil::createStationaryRobotStatesWithId({Point(4, 0)});
 
@@ -223,8 +223,8 @@ TEST_F(MoveTacticTest, test_spinning_move_counter_clockwise)
         [destination, tactic](std::shared_ptr<World> world_ptr,
                               ValidationCoroutine::push_type& yield)
         {
-            robotAtAngularVelocity(0, world_ptr, AngularVelocity::fromDegrees(-4 * 360),
-                                   AngularVelocity::fromDegrees(50), yield);
+            robotAtAngularVelocity(0, world_ptr, AngularVelocity::fromDegrees(-10),
+                                   AngularVelocity::fromDegrees(5), yield);
             robotAtPosition(0, world_ptr, destination, 0.05, yield);
             robotAtOrientation(0, world_ptr, Angle::half(), Angle::fromDegrees(5), yield);
             while (!tactic->done())

src/software/ai/hl/stp/tactic/move_primitive.cpp

@@ -5,6 +5,7 @@
 #include "proto/primitive/primitive_msg_factory.h"
 #include "software/ai/navigator/trajectory/bang_bang_trajectory_1d_angular.h"
 #include "software/geom/algorithms/end_in_obstacle_sample.h"
+#include "software/geom/angular_acceleration.h"
 
 MovePrimitive::MovePrimitive(
     const Robot &robot, const Point &destination, const Angle &final_angle,
@@ -38,9 +39,9 @@ MovePrimitive::MovePrimitive(
             robot.orientation(), final_angle, robot.angularVelocity(),
             AngularVelocity::fromRadians(
                 robot.robotConstants().robot_max_ang_speed_rad_per_s),
-            AngularVelocity::fromRadians(
+            AngularAcceleration::fromRadians(
                 robot.robotConstants().robot_max_ang_acceleration_rad_per_s_2),
-            AngularVelocity::fromRadians(
+            AngularAcceleration::fromRadians(
                 robot.robotConstants().robot_max_ang_acceleration_rad_per_s_2));
 
         estimated_cost =

src/software/ai/hl/stp/tactic/penalty_kick/penalty_kick_tactic_test.cpp

@@ -4,6 +4,7 @@
 
 #include <utility>
 
+#include "software/geom/angular_velocity.h"
 #include "software/simulated_tests/non_terminating_validation_functions/ball_in_play_or_scored_validation.h"
 #include "software/simulated_tests/non_terminating_validation_functions/ball_never_moves_backward_validation.h"
 #include "software/simulated_tests/non_terminating_validation_functions/robot_not_excessively_dribbling_validation.h"
@@ -21,8 +22,8 @@ class PenaltyKickTacticTest : public SimulatedErForceSimPlayTestFixture,
     Field field                      = Field::createField(field_type);
     BallState ball           = BallState(field.friendlyPenaltyMark(), Vector(0, 0));
     Point initial_position   = field.friendlyPenaltyMark() + Vector(-0.1, 0);
-    RobotStateWithId shooter = {
-        0, RobotState(initial_position, Vector(0, 0), Angle::zero(), Angle::zero())};
+    RobotStateWithId shooter = {0, RobotState(initial_position, Vector(0, 0),
+                                              Angle::zero(), AngularVelocity::zero())};
 };
 
 // TODO (#2232): Improve dribbling control so the ball is not lost during this test
@@ -79,22 +80,23 @@ INSTANTIATE_TEST_CASE_P(
     RobotLocations, PenaltyKickTacticTest,
     ::testing::Values(
         // enemy robot stationary at centre of goal
-        RobotStateWithId{0, RobotState(Field::createSSLDivisionBField().enemyGoalCenter(),
-                                       Vector(0, 0), Angle::half(), Angle::zero())},
+        RobotStateWithId{
+            0, RobotState(Field::createSSLDivisionBField().enemyGoalCenter(),
+                          Vector(0, 0), Angle::half(), AngularVelocity::zero())},
 
         // enemy robot stationary left of net
-        RobotStateWithId{0,
-                         RobotState(Field::createSSLDivisionBField().enemyGoalpostNeg(),
-                                    Vector(0, 0), Angle::half(), Angle::zero())},
+        RobotStateWithId{
+            0, RobotState(Field::createSSLDivisionBField().enemyGoalpostNeg(),
+                          Vector(0, 0), Angle::half(), AngularVelocity::zero())},
         // enemy robot stationary right of net
-        RobotStateWithId{0,
-                         RobotState(Field::createSSLDivisionBField().enemyGoalpostPos(),
-                                    Vector(0, 0), Angle::half(), Angle::zero())},
+        RobotStateWithId{
+            0, RobotState(Field::createSSLDivisionBField().enemyGoalpostPos(),
+                          Vector(0, 0), Angle::half(), AngularVelocity::zero())},
         // enemy robot left of net but moving right
-        RobotStateWithId{0,
-                         RobotState(Field::createSSLDivisionBField().enemyGoalpostNeg(),
-                                    Vector(0, 1.2), Angle::half(), Angle::zero())},
+        RobotStateWithId{
+            0, RobotState(Field::createSSLDivisionBField().enemyGoalpostNeg(),
+                          Vector(0, 1.2), Angle::half(), AngularVelocity::zero())},
         // enemy robot right of net but moving left
-        RobotStateWithId{0,
-                         RobotState(Field::createSSLDivisionBField().enemyGoalpostPos(),
-                                    Vector(0, -1.2), Angle::half(), Angle::zero())}));
+        RobotStateWithId{
+            0, RobotState(Field::createSSLDivisionBField().enemyGoalpostPos(),
+                          Vector(0, -1.2), Angle::half(), AngularVelocity::zero())}));