allwpilib/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveKinematicsStructTest.cpp

// 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/MecanumDriveKinematics.h"

using namespace frc;

namespace {

using StructType = wpi::Struct<frc::MecanumDriveKinematics>;
const MecanumDriveKinematics kExpectedData{MecanumDriveKinematics{
    Translation2d{19.1_m, 2.2_m}, Translation2d{35.04_m, 1.91_m},
    Translation2d{1.74_m, 3.504_m}, Translation2d{3.504_m, 1.91_m}}};
}  // namespace

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

  MecanumDriveKinematics unpacked_data = StructType::Unpack(buffer);

  EXPECT_EQ(kExpectedData.GetFrontLeftWheel(),
            unpacked_data.GetFrontLeftWheel());
  EXPECT_EQ(kExpectedData.GetFrontRightWheel(),
            unpacked_data.GetFrontRightWheel());
  EXPECT_EQ(kExpectedData.GetRearLeftWheel(), unpacked_data.GetRearLeftWheel());
  EXPECT_EQ(kExpectedData.GetRearRightWheel(),
            unpacked_data.GetRearRightWheel());
}