[wpimath] Add remaining struct and protobuf implementations (#5953)

wpimath/src/test/native/cpp/spline/proto/CubicHermiteSplineProtoTest.cpp

@@ -0,0 +1,32 @@
+// 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 "../../ProtoTestBase.h"
+#include "frc/spline/CubicHermiteSpline.h"
+
+using namespace frc;
+
+struct CubicHermiteSplineProtoTestData {
+  using Type = CubicHermiteSpline;
+
+  inline static const Type kTestData{
+      wpi::array<double, 2>{{0.1, 0.2}}, wpi::array<double, 2>{{0.3, 0.4}},
+      wpi::array<double, 2>{{0.5, 0.6}}, wpi::array<double, 2>{{0.7, 0.8}}};
+
+  static void CheckEq(const Type& testData, const Type& data) {
+    EXPECT_EQ(testData.GetInitialControlVector().x,
+              data.GetInitialControlVector().x);
+    EXPECT_EQ(testData.GetFinalControlVector().x,
+              data.GetFinalControlVector().x);
+    EXPECT_EQ(testData.GetInitialControlVector().y,
+              data.GetInitialControlVector().y);
+    EXPECT_EQ(testData.GetFinalControlVector().y,
+              data.GetFinalControlVector().y);
+  }
+};
+
+INSTANTIATE_TYPED_TEST_SUITE_P(CubicHermiteSpline, ProtoTest,
+                               CubicHermiteSplineProtoTestData);

wpimath/src/test/native/cpp/spline/proto/QuinticHermiteSplineProtoTest.cpp

@@ -0,0 +1,33 @@
+// 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 "../../ProtoTestBase.h"
+#include "frc/spline/QuinticHermiteSpline.h"
+
+using namespace frc;
+
+struct QuinticHermiteSplineProtoTestData {
+  using Type = QuinticHermiteSpline;
+
+  inline static const Type kTestData{wpi::array<double, 3>{{0.01, 0.02, 0.03}},
+                                     wpi::array<double, 3>{{0.04, 0.05, 0.06}},
+                                     wpi::array<double, 3>{{0.07, 0.08, 0.09}},
+                                     wpi::array<double, 3>{{0.10, 0.11, 0.11}}};
+
+  static void CheckEq(const Type& testData, const Type& data) {
+    EXPECT_EQ(testData.GetInitialControlVector().x,
+              data.GetInitialControlVector().x);
+    EXPECT_EQ(testData.GetFinalControlVector().x,
+              data.GetFinalControlVector().x);
+    EXPECT_EQ(testData.GetInitialControlVector().y,
+              data.GetInitialControlVector().y);
+    EXPECT_EQ(testData.GetFinalControlVector().y,
+              data.GetFinalControlVector().y);
+  }
+};
+
+INSTANTIATE_TYPED_TEST_SUITE_P(QuinticHermiteSpline, ProtoTest,
+                               QuinticHermiteSplineProtoTestData);

wpimath/src/test/native/cpp/spline/struct/CubicHermiteSplineStructTest.cpp

@@ -0,0 +1,32 @@
+// 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 "../../StructTestBase.h"
+#include "frc/spline/CubicHermiteSpline.h"
+
+using namespace frc;
+
+struct CubicHermiteSplineStructTestData {
+  using Type = CubicHermiteSpline;
+
+  inline static const Type kTestData{
+      wpi::array<double, 2>{{0.1, 0.2}}, wpi::array<double, 2>{{0.3, 0.4}},
+      wpi::array<double, 2>{{0.5, 0.6}}, wpi::array<double, 2>{{0.7, 0.8}}};
+
+  static void CheckEq(const Type& testData, const Type& data) {
+    EXPECT_EQ(testData.GetInitialControlVector().x,
+              data.GetInitialControlVector().x);
+    EXPECT_EQ(testData.GetFinalControlVector().x,
+              data.GetFinalControlVector().x);
+    EXPECT_EQ(testData.GetInitialControlVector().y,
+              data.GetInitialControlVector().y);
+    EXPECT_EQ(testData.GetFinalControlVector().y,
+              data.GetFinalControlVector().y);
+  }
+};
+
+INSTANTIATE_TYPED_TEST_SUITE_P(CubicHermiteSpline, StructTest,
+                               CubicHermiteSplineStructTestData);

wpimath/src/test/native/cpp/spline/struct/QuinticHermiteSplineStructTest.cpp

@@ -0,0 +1,33 @@
+// 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 "../../StructTestBase.h"
+#include "frc/spline/QuinticHermiteSpline.h"
+
+using namespace frc;
+
+struct QuinticHermiteSplineStructTestData {
+  using Type = QuinticHermiteSpline;
+
+  inline static const Type kTestData{wpi::array<double, 3>{{0.01, 0.02, 0.03}},
+                                     wpi::array<double, 3>{{0.04, 0.05, 0.06}},
+                                     wpi::array<double, 3>{{0.07, 0.08, 0.09}},
+                                     wpi::array<double, 3>{{0.10, 0.11, 0.11}}};
+
+  static void CheckEq(const Type& testData, const Type& data) {
+    EXPECT_EQ(testData.GetInitialControlVector().x,
+              data.GetInitialControlVector().x);
+    EXPECT_EQ(testData.GetFinalControlVector().x,
+              data.GetFinalControlVector().x);
+    EXPECT_EQ(testData.GetInitialControlVector().y,
+              data.GetInitialControlVector().y);
+    EXPECT_EQ(testData.GetFinalControlVector().y,
+              data.GetFinalControlVector().y);
+  }
+};
+
+INSTANTIATE_TYPED_TEST_SUITE_P(QuinticHermiteSpline, StructTest,
+                               QuinticHermiteSplineStructTestData);