mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-04 03:11:43 +00:00
30 lines
934 B
C++
30 lines
934 B
C++
|
// 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 "frc/kinematics/ChassisSpeeds.h"
|
||
|
|
#include "kinematics.pb.h"
|
||
|
|
|
||
|
|
using namespace frc;
|
||
|
|
|
||
|
|
namespace {
|
||
|
|
|
||
|
|
using ProtoType = wpi::Protobuf<frc::ChassisSpeeds>;
|
||
|
|
|
||
|
|
const ChassisSpeeds kExpectedData =
|
||
|
|
ChassisSpeeds{2.29_mps, 2.2_mps, 0.3504_rad_per_s};
|
||
|
|
} // namespace
|
||
|
|
|
||
|
|
TEST(ChassisSpeedsProtoTest, Roundtrip) {
|
||
|
|
google::protobuf::Arena arena;
|
||
|
|
google::protobuf::Message* proto = ProtoType::New(&arena);
|
||
|
|
ProtoType::Pack(proto, kExpectedData);
|
||
|
|
|
||
|
|
ChassisSpeeds unpacked_data = ProtoType::Unpack(*proto);
|
||
|
|
EXPECT_EQ(kExpectedData.vx.value(), unpacked_data.vx.value());
|
||
|
|
EXPECT_EQ(kExpectedData.vy.value(), unpacked_data.vy.value());
|
||
|
|
EXPECT_EQ(kExpectedData.omega.value(), unpacked_data.omega.value());
|
||
|
|
}
|