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https://github.com/PhotonVision/photonvision
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[photon-targeting][photon-lib] Add tests to the targeting classes and cleanup photon-lib & photon-targeting (#1007)
* 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
@@ -0,0 +1,66 @@
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
*/
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package org.photonvision.targeting;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.assertNotEquals;
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import edu.wpi.first.math.geometry.Rotation3d;
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import edu.wpi.first.math.geometry.Transform3d;
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import edu.wpi.first.math.geometry.Translation3d;
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import java.util.List;
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import org.junit.jupiter.api.Test;
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public class MultiTargetPNPResultTest {
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@Test
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public void equalityTest() {
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var a = new MultiTargetPNPResult();
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var b = new MultiTargetPNPResult();
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assertEquals(a, b);
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a =
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new MultiTargetPNPResult(
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new PNPResult(
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
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List.of(1, 2, 3));
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b =
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new MultiTargetPNPResult(
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new PNPResult(
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
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List.of(1, 2, 3));
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assertEquals(a, b);
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}
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@Test
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public void inequalityTest() {
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var a =
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new MultiTargetPNPResult(
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new PNPResult(
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new Transform3d(new Translation3d(1, 8, 3), new Rotation3d(1, 2, 3)), 0.1),
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List.of(3, 4, 7));
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var b =
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new MultiTargetPNPResult(
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new PNPResult(
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
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List.of(1, 2, 3));
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assertNotEquals(a, b);
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}
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}
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@@ -0,0 +1,77 @@
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
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||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.targeting;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.assertNotEquals;
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import edu.wpi.first.math.geometry.Rotation3d;
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import edu.wpi.first.math.geometry.Transform3d;
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import org.junit.jupiter.api.Test;
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public class PNPResultTest {
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@Test
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public void equalityTest() {
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var a = new PNPResult();
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var b = new PNPResult();
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assertEquals(a, b);
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a = new PNPResult(new Transform3d(0, 1, 2, new Rotation3d()), 0.0);
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b = new PNPResult(new Transform3d(0, 1, 2, new Rotation3d()), 0.0);
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assertEquals(a, b);
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a =
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new PNPResult(
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new Transform3d(0, 1, 2, new Rotation3d()),
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new Transform3d(3, 4, 5, new Rotation3d()),
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0.5,
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0.1,
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0.1);
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b =
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new PNPResult(
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new Transform3d(0, 1, 2, new Rotation3d()),
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new Transform3d(3, 4, 5, new Rotation3d()),
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0.5,
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0.1,
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0.1);
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assertEquals(a, b);
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}
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@Test
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public void inequalityTest() {
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var a = new PNPResult(new Transform3d(0, 1, 2, new Rotation3d()), 0.0);
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var b = new PNPResult(new Transform3d(3, 4, 5, new Rotation3d()), 0.1);
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assertNotEquals(a, b);
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a =
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new PNPResult(
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new Transform3d(3, 4, 5, new Rotation3d()),
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new Transform3d(0, 1, 2, new Rotation3d()),
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0.5,
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0.1,
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0.1);
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b =
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new PNPResult(
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new Transform3d(3, 4, 5, new Rotation3d()),
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new Transform3d(0, 1, 2, new Rotation3d()),
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0.5,
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0.1,
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0.2);
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assertNotEquals(a, b);
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}
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}
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@@ -0,0 +1,399 @@
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/*
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* Copyright (C) Photon Vision.
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*
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||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
*/
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package org.photonvision.targeting;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.assertNotEquals;
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import edu.wpi.first.math.geometry.Rotation3d;
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import edu.wpi.first.math.geometry.Transform3d;
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import edu.wpi.first.math.geometry.Translation3d;
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import java.util.List;
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import org.junit.jupiter.api.Test;
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public class PhotonPipelineResultTest {
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@Test
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public void equalityTest() {
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var a = new PhotonPipelineResult();
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var b = new PhotonPipelineResult();
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assertEquals(a, b);
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a =
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new PhotonPipelineResult(
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2,
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List.of(
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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2,
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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0.25,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.1,
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6.7,
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3,
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new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
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new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
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0.25,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
|
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))));
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b =
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new PhotonPipelineResult(
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2,
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List.of(
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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2,
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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0.25,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.1,
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6.7,
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3,
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new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
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new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
|
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0.25,
|
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List.of(
|
||||
new TargetCorner(1, 2),
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new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
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List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
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new TargetCorner(7, 8)))));
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assertEquals(a, b);
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a =
|
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new PhotonPipelineResult(
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2,
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List.of(
|
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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2,
|
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
|
||||
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
|
||||
0.25,
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8))),
|
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new PhotonTrackedTarget(
|
||||
3.0,
|
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-4.0,
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9.1,
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6.7,
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3,
|
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new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
|
||||
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
|
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0.25,
|
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List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)))),
|
||||
new MultiTargetPNPResult(
|
||||
new PNPResult(
|
||||
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
|
||||
List.of(1, 2, 3)));
|
||||
b =
|
||||
new PhotonPipelineResult(
|
||||
2,
|
||||
List.of(
|
||||
new PhotonTrackedTarget(
|
||||
3.0,
|
||||
-4.0,
|
||||
9.0,
|
||||
4.0,
|
||||
2,
|
||||
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
|
||||
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
|
||||
0.25,
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8))),
|
||||
new PhotonTrackedTarget(
|
||||
3.0,
|
||||
-4.0,
|
||||
9.1,
|
||||
6.7,
|
||||
3,
|
||||
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
|
||||
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
|
||||
0.25,
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)))),
|
||||
new MultiTargetPNPResult(
|
||||
new PNPResult(
|
||||
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
|
||||
List.of(1, 2, 3)));
|
||||
assertEquals(a, b);
|
||||
}
|
||||
|
||||
@Test
|
||||
public void inequalityTest() {
|
||||
var a =
|
||||
new PhotonPipelineResult(
|
||||
2,
|
||||
List.of(
|
||||
new PhotonTrackedTarget(
|
||||
3.0,
|
||||
-4.0,
|
||||
9.0,
|
||||
4.0,
|
||||
2,
|
||||
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
|
||||
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
|
||||
0.25,
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8))),
|
||||
new PhotonTrackedTarget(
|
||||
7.0,
|
||||
2.0,
|
||||
1.0,
|
||||
-9.0,
|
||||
3,
|
||||
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
|
||||
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
|
||||
0.25,
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)))));
|
||||
var b =
|
||||
new PhotonPipelineResult(
|
||||
2,
|
||||
List.of(
|
||||
new PhotonTrackedTarget(
|
||||
7.0,
|
||||
2.0,
|
||||
1.0,
|
||||
-9.0,
|
||||
2,
|
||||
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
|
||||
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
|
||||
0.25,
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8))),
|
||||
new PhotonTrackedTarget(
|
||||
3.0,
|
||||
-4.0,
|
||||
9.1,
|
||||
6.7,
|
||||
3,
|
||||
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
|
||||
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
|
||||
0.25,
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)))));
|
||||
assertNotEquals(a, b);
|
||||
|
||||
a =
|
||||
new PhotonPipelineResult(
|
||||
2,
|
||||
List.of(
|
||||
new PhotonTrackedTarget(
|
||||
3.0,
|
||||
-4.0,
|
||||
9.0,
|
||||
4.0,
|
||||
2,
|
||||
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
|
||||
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
|
||||
0.25,
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8))),
|
||||
new PhotonTrackedTarget(
|
||||
3.0,
|
||||
-4.0,
|
||||
9.1,
|
||||
6.7,
|
||||
3,
|
||||
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
|
||||
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
|
||||
0.25,
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)))),
|
||||
new MultiTargetPNPResult(
|
||||
new PNPResult(
|
||||
new Transform3d(new Translation3d(1, 8, 3), new Rotation3d(1, 2, 3)), 0.1),
|
||||
List.of(3, 4, 7)));
|
||||
b =
|
||||
new PhotonPipelineResult(
|
||||
2,
|
||||
List.of(
|
||||
new PhotonTrackedTarget(
|
||||
3.0,
|
||||
-4.0,
|
||||
9.0,
|
||||
4.0,
|
||||
2,
|
||||
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
|
||||
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
|
||||
0.25,
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8))),
|
||||
new PhotonTrackedTarget(
|
||||
3.0,
|
||||
-4.0,
|
||||
9.1,
|
||||
6.7,
|
||||
3,
|
||||
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
|
||||
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
|
||||
0.25,
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)))),
|
||||
new MultiTargetPNPResult(
|
||||
new PNPResult(
|
||||
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
|
||||
List.of(1, 2, 3)));
|
||||
assertNotEquals(a, b);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,119 @@
|
||||
/*
|
||||
* Copyright (C) Photon Vision.
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
package org.photonvision.targeting;
|
||||
|
||||
import static org.junit.jupiter.api.Assertions.assertEquals;
|
||||
import static org.junit.jupiter.api.Assertions.assertNotEquals;
|
||||
|
||||
import edu.wpi.first.math.geometry.Rotation3d;
|
||||
import edu.wpi.first.math.geometry.Transform3d;
|
||||
import edu.wpi.first.math.geometry.Translation3d;
|
||||
import java.util.List;
|
||||
import org.junit.jupiter.api.Test;
|
||||
|
||||
public class PhotonTrackedTargetTest {
|
||||
@Test
|
||||
public void equalityTest() {
|
||||
var a =
|
||||
new PhotonTrackedTarget(
|
||||
3.0,
|
||||
4.0,
|
||||
9.0,
|
||||
-5.0,
|
||||
-1,
|
||||
new Transform3d(new Translation3d(), new Rotation3d()),
|
||||
new Transform3d(new Translation3d(), new Rotation3d()),
|
||||
0.25,
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)));
|
||||
var b =
|
||||
new PhotonTrackedTarget(
|
||||
3.0,
|
||||
4.0,
|
||||
9.0,
|
||||
-5.0,
|
||||
-1,
|
||||
new Transform3d(new Translation3d(), new Rotation3d()),
|
||||
new Transform3d(new Translation3d(), new Rotation3d()),
|
||||
0.25,
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)));
|
||||
assertEquals(a, b);
|
||||
}
|
||||
|
||||
@Test
|
||||
public void inequalityTest() {
|
||||
var a =
|
||||
new PhotonTrackedTarget(
|
||||
3.0,
|
||||
4.0,
|
||||
9.0,
|
||||
-5.0,
|
||||
-1,
|
||||
new Transform3d(new Translation3d(), new Rotation3d()),
|
||||
new Transform3d(new Translation3d(), new Rotation3d()),
|
||||
0.25,
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)));
|
||||
var b =
|
||||
new PhotonTrackedTarget(
|
||||
7.0,
|
||||
2.0,
|
||||
1.0,
|
||||
-9.0,
|
||||
-1,
|
||||
new Transform3d(new Translation3d(), new Rotation3d()),
|
||||
new Transform3d(new Translation3d(), new Rotation3d()),
|
||||
0.25,
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)),
|
||||
List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)));
|
||||
assertNotEquals(a, b);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,41 @@
|
||||
/*
|
||||
* Copyright (C) Photon Vision.
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
package org.photonvision.targeting;
|
||||
|
||||
import static org.junit.jupiter.api.Assertions.assertEquals;
|
||||
import static org.junit.jupiter.api.Assertions.assertNotEquals;
|
||||
|
||||
import org.junit.jupiter.api.Test;
|
||||
|
||||
public class TargetCornerTest {
|
||||
@Test
|
||||
public void equalityTest() {
|
||||
var a = new TargetCorner(0, 1);
|
||||
var b = new TargetCorner(0, 1);
|
||||
|
||||
assertEquals(a, b);
|
||||
}
|
||||
|
||||
@Test
|
||||
public void inequalityTest() {
|
||||
var a = new TargetCorner(0, 1);
|
||||
var b = new TargetCorner(2, 4);
|
||||
|
||||
assertNotEquals(a, b);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user