allwpilib/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.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 <google/protobuf/arena.h>
#include <gtest/gtest.h>

#include "frc/geometry/Ellipse2d.h"

using namespace frc;

namespace {

using ProtoType = wpi::Protobuf<frc::Ellipse2d>;

const Ellipse2d kExpectedData{
    Pose2d{Translation2d{0.191_m, 2.2_m}, Rotation2d{22.9_rad}}, 1.2_m, 2.3_m};
}  // namespace

TEST(Ellipse2dProtoTest, Roundtrip) {
  google::protobuf::Arena arena;
  google::protobuf::Message* proto = ProtoType::New(&arena);
  ProtoType::Pack(proto, kExpectedData);

  Ellipse2d unpacked_data = ProtoType::Unpack(*proto);
  EXPECT_EQ(kExpectedData.Center(), unpacked_data.Center());
  EXPECT_EQ(kExpectedData.XSemiAxis(), unpacked_data.XSemiAxis());
  EXPECT_EQ(kExpectedData.YSemiAxis(), unpacked_data.YSemiAxis());
}