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[wpimath] Remove Rotation2d value field (#7490)

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It's not part of SO(2).
This commit is contained in:
Tyler Veness
2024-12-06 21:00:09 -08:00
committed by GitHub
parent 38b09a6dfd
commit 144e79a614
6 changed files with 29 additions and 48 deletions
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2
wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java
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@@ -79,7 +79,7 @@ class Rotation2dTest {
var rot = Rotation2d.fromDegrees(10.0);
assertEquals(30.0, rot.times(3.0).getDegrees(), kEpsilon);
assertEquals(410.0, rot.times(41.0).getDegrees(), kEpsilon);
assertEquals(50.0, rot.times(41.0).getDegrees(), kEpsilon);
}
@Test

2
wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java
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@@ -138,7 +138,7 @@ class SwerveDriveKinematicsTest {
() -> assertEquals(0.0, moduleStates[0].angle.getDegrees(), kEpsilon),
() -> assertEquals(90.0, moduleStates[1].angle.getDegrees(), kEpsilon),
() -> assertEquals(180.0, moduleStates[2].angle.getDegrees(), kEpsilon),
() -> assertEquals(270.0, moduleStates[3].angle.getDegrees(), kEpsilon));
() -> assertEquals(-90.0, moduleStates[3].angle.getDegrees(), kEpsilon));
}
@Test

8
wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
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@@ -59,7 +59,7 @@ TEST(Rotation2dTest, Multiply) {
const auto rot = Rotation2d{10_deg};
EXPECT_DOUBLE_EQ(30.0, (rot * 3.0).Degrees().value());
EXPECT_DOUBLE_EQ(410.0, (rot * 41.0).Degrees().value());
EXPECT_DOUBLE_EQ(50.0, (rot * 41.0).Degrees().value());
}
TEST(Rotation2dTest, Equality) {
@@ -90,9 +90,9 @@ TEST(Rotation2dTest, Constexpr) {
constexpr auto subtracted = cartesianCtor - degreeCtor;
static_assert(defaultCtor.Radians() == 0_rad);
static_assert(degreeCtor.Degrees() == 270_deg);
static_assert(negated.Radians() == -5_rad);
static_assert(multiplied.Radians() == 10_rad);
static_assert(degreeCtor.Degrees() == -90_deg);
static_assert(negated.Radians() == -5_rad + 1_tr);
static_assert(multiplied.Radians() == 10_rad - 2_tr);
static_assert(subtracted == rotation45);
static_assert(radianCtor != degreeCtor);
}

2
wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
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@@ -143,7 +143,7 @@ TEST_F(SwerveDriveKinematicsTest, ResetWheelAngle) {
EXPECT_NEAR(flMod.angle.Degrees().value(), 0.0, kEpsilon);
EXPECT_NEAR(frMod.angle.Degrees().value(), 90.0, kEpsilon);
EXPECT_NEAR(blMod.angle.Degrees().value(), 180.0, kEpsilon);
EXPECT_NEAR(brMod.angle.Degrees().value(), 270.0, kEpsilon);
EXPECT_NEAR(brMod.angle.Degrees().value(), -90.0, kEpsilon);
}
TEST_F(SwerveDriveKinematicsTest, TurnInPlaceForwardKinematics) {