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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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77
photon-targeting/src/test/java/org/photonvision/targeting/PNPResultTest.java Normal file
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/*
* 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 org.junit.jupiter.api.Test;
public class PNPResultTest {
@Test
public void equalityTest() {
var a = new PNPResult();
var b = new PNPResult();
assertEquals(a, b);
a = new PNPResult(new Transform3d(0, 1, 2, new Rotation3d()), 0.0);
b = new PNPResult(new Transform3d(0, 1, 2, new Rotation3d()), 0.0);
assertEquals(a, b);
a =
new PNPResult(
new Transform3d(0, 1, 2, new Rotation3d()),
new Transform3d(3, 4, 5, new Rotation3d()),
0.5,
0.1,
0.1);
b =
new PNPResult(
new Transform3d(0, 1, 2, new Rotation3d()),
new Transform3d(3, 4, 5, new Rotation3d()),
0.5,
0.1,
0.1);
assertEquals(a, b);
}
@Test
public void inequalityTest() {
var a = new PNPResult(new Transform3d(0, 1, 2, new Rotation3d()), 0.0);
var b = new PNPResult(new Transform3d(3, 4, 5, new Rotation3d()), 0.1);
assertNotEquals(a, b);
a =
new PNPResult(
new Transform3d(3, 4, 5, new Rotation3d()),
new Transform3d(0, 1, 2, new Rotation3d()),
0.5,
0.1,
0.1);
b =
new PNPResult(
new Transform3d(3, 4, 5, new Rotation3d()),
new Transform3d(0, 1, 2, new Rotation3d()),
0.5,
0.1,
0.2);
assertNotEquals(a, b);
}
}