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

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This commit is contained in:
Joseph Eng
2024-07-29 07:55:44 -07:00
committed by GitHub
parent 3e1e3fb4ca
commit 073192d513
112 changed files with 3989 additions and 45 deletions
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34
wpimath/src/test/native/cpp/system/proto/LinearSystemProtoTest.cpp Normal file
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// 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/system/LinearSystem.h"
#include "frc/system/proto/LinearSystemProto.h"
using namespace frc;
struct LinearSystemProtoTestData {
using Type = LinearSystem<2, 3, 4>;
inline static const Type kTestData{
Matrixd<2, 2>{{1.1, 1.2}, {1.3, 1.4}},
Matrixd<2, 3>{{2.1, 2.2, 2.3}, {2.4, 2.5, 2.6}},
Matrixd<4, 2>{{3.1, 3.2}, {3.3, 3.4}, {3.5, 3.6}, {3.7, 3.8}},
Matrixd<4, 3>{{4.01, 4.02, 4.03},
{4.04, 4.05, 4.06},
{4.07, 4.08, 4.09},
{4.10, 4.11, 4.12}}};
static void CheckEq(const Type& testData, const Type& data) {
EXPECT_EQ(testData.A(), data.A());
EXPECT_EQ(testData.B(), data.B());
EXPECT_EQ(testData.C(), data.C());
EXPECT_EQ(testData.D(), data.D());
}
};
INSTANTIATE_TYPED_TEST_SUITE_P(LinearSystem, ProtoTest,
LinearSystemProtoTestData);

34
wpimath/src/test/native/cpp/system/struct/LinearSystemStructTest.cpp Normal file
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// 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/system/LinearSystem.h"
#include "frc/system/struct/LinearSystemStruct.h"
using namespace frc;
struct LinearSystemStructTestData {
using Type = LinearSystem<2, 3, 4>;
inline static const Type kTestData{
Matrixd<2, 2>{{1.1, 1.2}, {1.3, 1.4}},
Matrixd<2, 3>{{2.1, 2.2, 2.3}, {2.4, 2.5, 2.6}},
Matrixd<4, 2>{{3.1, 3.2}, {3.3, 3.4}, {3.5, 3.6}, {3.7, 3.8}},
Matrixd<4, 3>{{4.01, 4.02, 4.03},
{4.04, 4.05, 4.06},
{4.07, 4.08, 4.09},
{4.10, 4.11, 4.12}}};
static void CheckEq(const Type& testData, const Type& data) {
EXPECT_EQ(testData.A(), data.A());
EXPECT_EQ(testData.B(), data.B());
EXPECT_EQ(testData.C(), data.C());
EXPECT_EQ(testData.D(), data.D());
}
};
INSTANTIATE_TYPED_TEST_SUITE_P(LinearSystem, StructTest,
LinearSystemStructTestData);