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[wpimath] Add distance/angle constructor to Translation2d (#2791)

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This commit is contained in:
Prateek Machiraju
2020-10-21 00:22:41 -04:00
committed by GitHub
parent b66fcdb3f7
commit 17698af5e3
5 changed files with 47 additions and 0 deletions
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10
wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp
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@@ -88,3 +88,13 @@ TEST(Translation2dTest, Inequality) {
const Translation2d two{9_m, 5.7_m};
EXPECT_TRUE(one != two);
}
TEST(Translation2dTest, PolarConstructor) {
Translation2d one{std::sqrt(2) * 1_m, Rotation2d(45_deg)};
EXPECT_NEAR(one.X().to<double>(), 1.0, kEpsilon);
EXPECT_NEAR(one.Y().to<double>(), 1.0, kEpsilon);
Translation2d two{2_m, Rotation2d(60_deg)};
EXPECT_NEAR(two.X().to<double>(), 1.0, kEpsilon);
EXPECT_NEAR(two.Y().to<double>(), std::sqrt(3.0), kEpsilon);
}