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https://github.com/wpilibsuite/allwpilib
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27 lines
933 B
C++
27 lines
933 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 "../../ProtoTestBase.h"
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#include "frc/kinematics/SwerveDriveKinematics.h"
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#include "frc/kinematics/proto/SwerveDriveKinematicsProto.h"
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using namespace frc;
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struct SwerveDriveKinematicsProtoTestData {
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using Type = SwerveDriveKinematics<4>;
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inline static const Type kTestData{
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frc::Translation2d{1.0_m, 0.9_m}, frc::Translation2d{1.1_m, -0.8_m},
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frc::Translation2d{-1.2_m, 0.7_m}, frc::Translation2d{-1.3_m, -0.6_m}};
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static void CheckEq(const Type& testData, const Type& data) {
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EXPECT_EQ(testData.GetModules(), data.GetModules());
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}
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};
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INSTANTIATE_TYPED_TEST_SUITE_P(SwerveDriveKinematics, ProtoTest,
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SwerveDriveKinematicsProtoTestData);
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