Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-03 03:01:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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);
}