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[wpimath] Prevent CoordinateSystem from accepting left-handed systems (#8750)

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This commit is contained in:
Tricks1228
2026-04-11 15:53:36 -05:00
committed by GitHub
parent c6f54e963c
commit 042567d0ba
4 changed files with 45 additions and 0 deletions
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14
wpimath/src/test/java/org/wpilib/math/geometry/CoordinateSystemTest.java
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@@ -5,6 +5,7 @@
package org.wpilib.math.geometry;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertThrows;
import org.junit.jupiter.api.Test;
import org.wpilib.math.util.Units;
@@ -232,4 +233,17 @@ class CoordinateSystemTest {
CoordinateSystem.EDN(),
CoordinateSystem.NED());
}
@Test
void testLeftHandedSystemThrowsException() {
assertThrows(
IllegalArgumentException.class,
() -> new CoordinateSystem(CoordinateAxis.N(), CoordinateAxis.E(), CoordinateAxis.U()));
assertThrows(
IllegalArgumentException.class,
() -> new CoordinateSystem(CoordinateAxis.E(), CoordinateAxis.U(), CoordinateAxis.N()));
assertThrows(
IllegalArgumentException.class,
() -> new CoordinateSystem(CoordinateAxis.N(), CoordinateAxis.W(), CoordinateAxis.D()));
}
}

12
wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
View File

@@ -155,3 +155,15 @@ TEST(CoordinateSystemTest, Transform3dEDNtoNED) {
Rotation3d{45_deg, 0_deg, 0_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NED());
}
TEST(CoordinateSystemTest, LeftHandedSystemThrowsException) {
EXPECT_THROW(CoordinateSystem(CoordinateAxis::N(), CoordinateAxis::E(),
CoordinateAxis::U()),
std::domain_error);
EXPECT_THROW(CoordinateSystem(CoordinateAxis::E(), CoordinateAxis::U(),
CoordinateAxis::N()),
std::domain_error);
EXPECT_THROW(CoordinateSystem(CoordinateAxis::N(), CoordinateAxis::W(),
CoordinateAxis::D()),
std::domain_error);
}