// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include <gtest/gtest.h>

#include "wpi/math/geometry/Pose2d.hpp"

using namespace wpi::math;

namespace {

using StructType = wpi::util::Struct<wpi::math::Pose2d>;
const Pose2d kExpectedData{
    Pose2d{Translation2d{0.191_m, 2.2_m}, Rotation2d{22.9_rad}}};
}  // namespace

TEST(Pose2dStructTest, Roundtrip) {
  uint8_t buffer[StructType::GetSize()];
  std::memset(buffer, 0, StructType::GetSize());
  StructType::Pack(buffer, kExpectedData);

  Pose2d unpacked_data = StructType::Unpack(buffer);

  EXPECT_EQ(kExpectedData.Translation(), unpacked_data.Translation());
  EXPECT_EQ(kExpectedData.Rotation(), unpacked_data.Rotation());
}
