Don't test constexpr on GCC 11 and below

wpilibsuite · Jan 13, 2025 · 53fb1d0 · 53fb1d0
1 parent f9766cc
commit 53fb1d0
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Showing 3 changed files with 39 additions and 0 deletions.
diff --git a/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
@@ -79,8 +79,13 @@ TEST(Rotation2dTest, Inequality) {
 }
 
 TEST(Rotation2dTest, ToMatrix) {
+#if __GNUC__ <= 11
+  Rotation2d before{20_deg};
+  Rotation2d after{before.ToMatrix()};
+#else
   constexpr Rotation2d before{20_deg};
   constexpr Rotation2d after{before.ToMatrix()};
+#endif
 
   EXPECT_EQ(before, after);
 }

diff --git a/wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp
@@ -308,8 +308,13 @@ TEST(Rotation3dTest, Inequality) {
 }
 
 TEST(Rotation3dTest, ToMatrix) {
+#if __GNUC__ <= 11
+  Rotation3d before{10_deg, 20_deg, 30_deg};
+  Rotation3d after{before.ToMatrix()};
+#else
   constexpr Rotation3d before{10_deg, 20_deg, 30_deg};
   constexpr Rotation3d after{before.ToMatrix()};
+#endif
 
   EXPECT_EQ(before, after);
 }

diff --git a/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp b/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
@@ -12,8 +12,13 @@
 #include "units/mass.h"
 
 TEST(LinearSystemIDTest, IdentifyDrivetrainVelocitySystem) {
+#if __GNUC__ <= 11
+  auto model = frc::LinearSystemId::DrivetrainVelocitySystem(
+      frc::DCMotor::NEO(4), 70_kg, 0.05_m, 0.4_m, 6.0_kg_sq_m, 6.0);
+#else
   constexpr auto model = frc::LinearSystemId::DrivetrainVelocitySystem(
       frc::DCMotor::NEO(4), 70_kg, 0.05_m, 0.4_m, 6.0_kg_sq_m, 6.0);
+#endif
 
   ASSERT_TRUE(model.A().isApprox(
       frc::Matrixd<2, 2>{{-10.14132, 3.06598}, {3.06598, -10.14132}}, 0.001));
@@ -37,17 +42,29 @@ TEST(LinearSystemIDTest, ElevatorSystem) {
 }
 
 TEST(LinearSystemIDTest, FlywheelSystem) {
+#if __GNUC__ <= 11
+  auto model = frc::LinearSystemId::FlywheelSystem(frc::DCMotor::NEO(2),
+                                                   0.00032_kg_sq_m, 1.0);
+#else
   constexpr auto model = frc::LinearSystemId::FlywheelSystem(
       frc::DCMotor::NEO(2), 0.00032_kg_sq_m, 1.0);
+#endif
+
   ASSERT_TRUE(model.A().isApprox(frc::Matrixd<1, 1>{-26.87032}, 0.001));
   ASSERT_TRUE(model.B().isApprox(frc::Matrixd<1, 1>{1354.166667}, 0.001));
   ASSERT_TRUE(model.C().isApprox(frc::Matrixd<1, 1>{1.0}, 0.001));
   ASSERT_TRUE(model.D().isApprox(frc::Matrixd<1, 1>{0.0}, 0.001));
 }
 
 TEST(LinearSystemIDTest, DCMotorSystem) {
+#if __GNUC__ <= 11
+  auto model = frc::LinearSystemId::DCMotorSystem(frc::DCMotor::NEO(2),
+                                                  0.00032_kg_sq_m, 1.0);
+#else
   constexpr auto model = frc::LinearSystemId::DCMotorSystem(
       frc::DCMotor::NEO(2), 0.00032_kg_sq_m, 1.0);
+#endif
+
   ASSERT_TRUE(
       model.A().isApprox(frc::Matrixd<2, 2>{{0, 1}, {0, -26.87032}}, 0.001));
   ASSERT_TRUE(model.B().isApprox(frc::Matrixd<2, 1>{0, 1354.166667}, 0.001));
@@ -61,9 +78,15 @@ TEST(LinearSystemIDTest, IdentifyPositionSystem) {
   // x-dot = [0 1 | 0 -kv/ka] x = [0 | 1/ka] u
   constexpr double kv = 1.0;
   constexpr double ka = 0.5;
+
+#if __GNUC__ <= 11
+  auto model = frc::LinearSystemId::IdentifyPositionSystem<units::meter>(
+      kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
+#else
   constexpr auto model =
       frc::LinearSystemId::IdentifyPositionSystem<units::meter>(
           kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
+#endif
 
   ASSERT_TRUE(model.A().isApprox(
       frc::Matrixd<2, 2>{{0.0, 1.0}, {0.0, -kv / ka}}, 0.001));
@@ -76,9 +99,15 @@ TEST(LinearSystemIDTest, IdentifyVelocitySystem) {
   // x-dot =  -kv/ka * v + 1/ka \cdot V
   constexpr double kv = 1.0;
   constexpr double ka = 0.5;
+
+#if __GNUC__ <= 11
+  auto model = frc::LinearSystemId::IdentifyVelocitySystem<units::meter>(
+      kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
+#else
   constexpr auto model =
       frc::LinearSystemId::IdentifyVelocitySystem<units::meter>(
           kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
+#endif
 
   ASSERT_TRUE(model.A().isApprox(frc::Matrixd<1, 1>{-kv / ka}, 0.001));
   ASSERT_TRUE(model.B().isApprox(frc::Matrixd<1, 1>{1.0 / ka}, 0.001));