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https://github.com/wpilibsuite/allwpilib
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29 lines
899 B
C++
29 lines
899 B
C++
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <gtest/gtest.h>
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#include "frc/geometry/Rectangle2d.h"
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using namespace frc;
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namespace {
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using StructType = wpi::Struct<frc::Rectangle2d>;
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const Rectangle2d kExpectedData{
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Pose2d{Translation2d{0.191_m, 2.2_m}, Rotation2d{22.9_rad}}, 1.2_m, 2.3_m};
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} // namespace
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TEST(Rectangle2dStructTest, Roundtrip) {
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uint8_t buffer[StructType::GetSize()];
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std::memset(buffer, 0, StructType::GetSize());
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StructType::Pack(buffer, kExpectedData);
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Rectangle2d unpacked_data = StructType::Unpack(buffer);
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EXPECT_EQ(kExpectedData.Center(), unpacked_data.Center());
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EXPECT_EQ(kExpectedData.XWidth(), unpacked_data.XWidth());
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EXPECT_EQ(kExpectedData.YWidth(), unpacked_data.YWidth());
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}
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