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Refactor AngularVelocity/Acceleration classes #3541

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b9601d0
Fix misuses of angle vs angular velocity/acceleration
nycrat Dec 12, 2025
7f73125
Refactor into generic angle template class
nycrat Feb 8, 2026
2977873
Use concepts to only implement some methods for Angle
nycrat Feb 8, 2026
fb30878
Fix implementation of == operator depending on type
nycrat Feb 8, 2026
d7f1e83
Edit comments, resolve TODOs
nycrat Feb 8, 2026
6136224
Refactor GenericAngle into separate header
nycrat Feb 8, 2026
9a7b3e5
Fix use of minDiff for angular velocity
nycrat Feb 8, 2026
75b7521
Create new equalWithinTolerance for angular velocity
nycrat Feb 13, 2026
6a79389
Fix cpp test fixture logging wrong stats
nycrat Feb 13, 2026
5ac18ec
Fix wrong parameter angle vs angular velocity
nycrat Feb 13, 2026
ba8ff8c
Fix move tactic test validations after no minDiff
nycrat Feb 13, 2026
c3115df
Fix typo in python bindings
nycrat Feb 13, 2026
af512db
Formatting
nycrat Feb 13, 2026
a271f3f
Merge branch 'master' into avah/angular_velocity_acceleration_classes
nycrat Jul 5, 2026
19ac9ce
Merge branch 'master' into avah/angular_velocity_acceleration_classes
nycrat Jul 5, 2026
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3 changes: 2 additions & 1 deletion src/proto/message_translation/er_force_world_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

#include <gtest/gtest.h>

#include "software/geom/angular_velocity.h"
#include "software/test_util/test_util.h"


Expand Down Expand Up @@ -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)));
Expand Down
2 changes: 1 addition & 1 deletion src/proto/message_translation/tbots_geometry_test.cpp
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Expand Up @@ -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());
Expand Down
5 changes: 3 additions & 2 deletions src/proto/message_translation/tbots_protobuf.cpp
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Original file line number Diff line number Diff line change
@@ -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"


Expand Down Expand Up @@ -484,9 +485,9 @@ BangBangTrajectory1DAngular createAngularTrajectoryFromParams(
initial_velocity,
AngularVelocity::fromRadians(
robot_constants.robot_trajectory_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));
}

Expand Down
2 changes: 1 addition & 1 deletion src/proto/message_translation/tbots_protobuf_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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));
Expand Down
4 changes: 2 additions & 2 deletions src/software/ai/hl/stp/play/passing_sim_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -68,8 +68,8 @@ 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)
Expand All @@ -81,8 +81,8 @@ 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)
Expand Down
5 changes: 3 additions & 2 deletions src/software/ai/hl/stp/tactic/move_primitive.cpp
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Expand Up @@ -7,6 +7,7 @@
#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(
Expand Down Expand Up @@ -42,9 +43,9 @@ 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 =
Expand Down
12 changes: 9 additions & 3 deletions src/software/geom/BUILD
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Original file line number Diff line number Diff line change
@@ -1,9 +1,15 @@
package(default_visibility = ["//visibility:public"])

cc_library(
name = "generic_angle",
hdrs = ["generic_angle.h"],
deps = [":geom_constants"],
)

cc_library(
name = "angle",
hdrs = ["angle.h"],
deps = [":geom_constants"],
deps = [":generic_angle"],
)

cc_library(
Expand Down Expand Up @@ -36,13 +42,13 @@ cc_library(
cc_library(
name = "angular_velocity",
hdrs = ["angular_velocity.h"],
deps = [":angle"],
deps = [":generic_angle"],
)

cc_library(
name = "angular_acceleration",
hdrs = ["angular_acceleration.h"],
deps = [":angle"],
deps = [":generic_angle"],
)

cc_library(
Expand Down
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