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[photon-targeting][photon-lib] Add tests to the targeting classes and cleanup photon-lib & photon-targeting (#1007)

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* Make MultiTagPNPResult and PNPResult singular

* add java tests

* Formatting fixes

* bring in the rest of the little stuff

* final things

* Formatting fixes

* add multisubscriber back

* Formatting fixes

* make comments better about x and y relationship
This commit is contained in:
Sriman Achanta
2023-11-15 18:28:26 -05:00
committed by GitHub
parent 524b135142
commit 308fd801d4
31 changed files with 833 additions and 191 deletions
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8
photon-lib/src/test/java/org/photonvision/PacketTest.java
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@@ -30,8 +30,8 @@ import java.util.List;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.Test;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.targeting.MultiTargetPNPResults;
import org.photonvision.targeting.PNPResults;
import org.photonvision.targeting.MultiTargetPNPResult;
import org.photonvision.targeting.PNPResult;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
import org.photonvision.targeting.TargetCorner;
@@ -174,8 +174,8 @@ class PacketTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))),
new MultiTargetPNPResults(
new PNPResults(
new MultiTargetPNPResult(
new PNPResult(
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
List.of(1, 2, 3)));

4
photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
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@@ -69,7 +69,7 @@ class PhotonPoseEstimatorTest {
e.printStackTrace();
}
List<AprilTag> tagList = new ArrayList<AprilTag>(2);
List<AprilTag> tagList = new ArrayList<>(2);
tagList.add(new AprilTag(0, new Pose3d(3, 3, 3, new Rotation3d())));
tagList.add(new AprilTag(1, new Pose3d(5, 5, 5, new Rotation3d())));
double fieldLength = Units.feetToMeters(54.0);
@@ -619,7 +619,7 @@ class PhotonPoseEstimatorTest {
assertEquals(2.15, pose.getZ(), .01);
}
private class PhotonCameraInjector extends PhotonCamera {
private static class PhotonCameraInjector extends PhotonCamera {
public PhotonCameraInjector() {
super("Test");
}

2
photon-lib/src/test/java/org/photonvision/PhotonVersionTest.java
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@@ -30,7 +30,7 @@ import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.Test;
public class PhotonVersionTest {
public static final boolean versionMatches(String versionString, String other) {
public static boolean versionMatches(String versionString, String other) {
String c = versionString;
Pattern p = Pattern.compile("v[0-9]+.[0-9]+.[0-9]+");
Matcher m = p.matcher(c);