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Replace .to<double>() and .template to<double>() with .value() (#3667)

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It's a less verbose way to do the same thing.
This commit is contained in:
Tyler Veness
2021-10-25 08:58:12 -07:00
committed by GitHub
parent 6bc1db44bc
commit 181723e573
134 changed files with 782 additions and 826 deletions
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18
wpimath/src/test/native/cpp/geometry/Pose2dTest.cpp
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@@ -17,9 +17,9 @@ TEST(Pose2dTest, TransformBy) {
const auto transformed = initial + transform;
EXPECT_NEAR(transformed.X().to<double>(), 1 + 5 / std::sqrt(2.0), kEpsilon);
EXPECT_NEAR(transformed.Y().to<double>(), 2 + 5 / std::sqrt(2.0), kEpsilon);
EXPECT_NEAR(transformed.Rotation().Degrees().to<double>(), 50.0, kEpsilon);
EXPECT_NEAR(transformed.X().value(), 1 + 5 / std::sqrt(2.0), kEpsilon);
EXPECT_NEAR(transformed.Y().value(), 2 + 5 / std::sqrt(2.0), kEpsilon);
EXPECT_NEAR(transformed.Rotation().Degrees().value(), 50.0, kEpsilon);
}
TEST(Pose2dTest, RelativeTo) {
@@ -28,10 +28,10 @@ TEST(Pose2dTest, RelativeTo) {
const auto finalRelativeToInitial = final.RelativeTo(initial);
EXPECT_NEAR(finalRelativeToInitial.X().to<double>(), 5.0 * std::sqrt(2.0),
EXPECT_NEAR(finalRelativeToInitial.X().value(), 5.0 * std::sqrt(2.0),
kEpsilon);
EXPECT_NEAR(finalRelativeToInitial.Y().to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(finalRelativeToInitial.Rotation().Degrees().to<double>(), 0.0,
EXPECT_NEAR(finalRelativeToInitial.Y().value(), 0.0, kEpsilon);
EXPECT_NEAR(finalRelativeToInitial.Rotation().Degrees().value(), 0.0,
kEpsilon);
}
@@ -53,7 +53,7 @@ TEST(Pose2dTest, Minus) {
const auto transform = final - initial;
EXPECT_NEAR(transform.X().to<double>(), 5.0 * std::sqrt(2.0), kEpsilon);
EXPECT_NEAR(transform.Y().to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(transform.Rotation().Degrees().to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(transform.X().value(), 5.0 * std::sqrt(2.0), kEpsilon);
EXPECT_NEAR(transform.Y().value(), 0.0, kEpsilon);
EXPECT_NEAR(transform.Rotation().Degrees().value(), 0.0, kEpsilon);
}

16
wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
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@@ -17,38 +17,38 @@ TEST(Rotation2dTest, RadiansToDegrees) {
const Rotation2d rot1{units::radian_t(wpi::numbers::pi / 3)};
const Rotation2d rot2{units::radian_t(wpi::numbers::pi / 4)};
EXPECT_NEAR(rot1.Degrees().to<double>(), 60.0, kEpsilon);
EXPECT_NEAR(rot2.Degrees().to<double>(), 45.0, kEpsilon);
EXPECT_NEAR(rot1.Degrees().value(), 60.0, kEpsilon);
EXPECT_NEAR(rot2.Degrees().value(), 45.0, kEpsilon);
}
TEST(Rotation2dTest, DegreesToRadians) {
const auto rot1 = Rotation2d(45.0_deg);
const auto rot2 = Rotation2d(30.0_deg);
EXPECT_NEAR(rot1.Radians().to<double>(), wpi::numbers::pi / 4.0, kEpsilon);
EXPECT_NEAR(rot2.Radians().to<double>(), wpi::numbers::pi / 6.0, kEpsilon);
EXPECT_NEAR(rot1.Radians().value(), wpi::numbers::pi / 4.0, kEpsilon);
EXPECT_NEAR(rot2.Radians().value(), wpi::numbers::pi / 6.0, kEpsilon);
}
TEST(Rotation2dTest, RotateByFromZero) {
const Rotation2d zero;
auto sum = zero + Rotation2d(90.0_deg);
EXPECT_NEAR(sum.Radians().to<double>(), wpi::numbers::pi / 2.0, kEpsilon);
EXPECT_NEAR(sum.Degrees().to<double>(), 90.0, kEpsilon);
EXPECT_NEAR(sum.Radians().value(), wpi::numbers::pi / 2.0, kEpsilon);
EXPECT_NEAR(sum.Degrees().value(), 90.0, kEpsilon);
}
TEST(Rotation2dTest, RotateByNonZero) {
auto rot = Rotation2d(90.0_deg);
rot = rot + Rotation2d(30.0_deg);
EXPECT_NEAR(rot.Degrees().to<double>(), 120.0, kEpsilon);
EXPECT_NEAR(rot.Degrees().value(), 120.0, kEpsilon);
}
TEST(Rotation2dTest, Minus) {
const auto rot1 = Rotation2d(70.0_deg);
const auto rot2 = Rotation2d(30.0_deg);
EXPECT_NEAR((rot1 - rot2).Degrees().to<double>(), 40.0, kEpsilon);
EXPECT_NEAR((rot1 - rot2).Degrees().value(), 40.0, kEpsilon);
}
TEST(Rotation2dTest, Equality) {

22
wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp
View File

@@ -21,12 +21,10 @@ TEST(Transform2dTest, Inverse) {
auto transformed = initial + transform;
auto untransformed = transformed + transform.Inverse();
EXPECT_NEAR(initial.X().to<double>(), untransformed.X().to<double>(),
kEpsilon);
EXPECT_NEAR(initial.Y().to<double>(), untransformed.Y().to<double>(),
kEpsilon);
EXPECT_NEAR(initial.Rotation().Degrees().to<double>(),
untransformed.Rotation().Degrees().to<double>(), kEpsilon);
EXPECT_NEAR(initial.X().value(), untransformed.X().value(), kEpsilon);
EXPECT_NEAR(initial.Y().value(), untransformed.Y().value(), kEpsilon);
EXPECT_NEAR(initial.Rotation().Degrees().value(),
untransformed.Rotation().Degrees().value(), kEpsilon);
}
TEST(Transform2dTest, Composition) {
@@ -37,10 +35,10 @@ TEST(Transform2dTest, Composition) {
auto transformedSeparate = initial + transform1 + transform2;
auto transformedCombined = initial + (transform1 + transform2);
EXPECT_NEAR(transformedSeparate.X().to<double>(),
transformedCombined.X().to<double>(), kEpsilon);
EXPECT_NEAR(transformedSeparate.Y().to<double>(),
transformedCombined.Y().to<double>(), kEpsilon);
EXPECT_NEAR(transformedSeparate.Rotation().Degrees().to<double>(),
transformedCombined.Rotation().Degrees().to<double>(), kEpsilon);
EXPECT_NEAR(transformedSeparate.X().value(), transformedCombined.X().value(),
kEpsilon);
EXPECT_NEAR(transformedSeparate.Y().value(), transformedCombined.Y().value(),
kEpsilon);
EXPECT_NEAR(transformedSeparate.Rotation().Degrees().value(),
transformedCombined.Rotation().Degrees().value(), kEpsilon);
}

36
wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp
View File

@@ -17,8 +17,8 @@ TEST(Translation2dTest, Sum) {
const auto sum = one + two;
EXPECT_NEAR(sum.X().to<double>(), 3.0, kEpsilon);
EXPECT_NEAR(sum.Y().to<double>(), 8.0, kEpsilon);
EXPECT_NEAR(sum.X().value(), 3.0, kEpsilon);
EXPECT_NEAR(sum.Y().value(), 8.0, kEpsilon);
}
TEST(Translation2dTest, Difference) {
@@ -27,51 +27,51 @@ TEST(Translation2dTest, Difference) {
const auto difference = one - two;
EXPECT_NEAR(difference.X().to<double>(), -1.0, kEpsilon);
EXPECT_NEAR(difference.Y().to<double>(), -2.0, kEpsilon);
EXPECT_NEAR(difference.X().value(), -1.0, kEpsilon);
EXPECT_NEAR(difference.Y().value(), -2.0, kEpsilon);
}
TEST(Translation2dTest, RotateBy) {
const Translation2d another{3.0_m, 0.0_m};
const auto rotated = another.RotateBy(Rotation2d(90.0_deg));
EXPECT_NEAR(rotated.X().to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(rotated.Y().to<double>(), 3.0, kEpsilon);
EXPECT_NEAR(rotated.X().value(), 0.0, kEpsilon);
EXPECT_NEAR(rotated.Y().value(), 3.0, kEpsilon);
}
TEST(Translation2dTest, Multiplication) {
const Translation2d original{3.0_m, 5.0_m};
const auto mult = original * 3;
EXPECT_NEAR(mult.X().to<double>(), 9.0, kEpsilon);
EXPECT_NEAR(mult.Y().to<double>(), 15.0, kEpsilon);
EXPECT_NEAR(mult.X().value(), 9.0, kEpsilon);
EXPECT_NEAR(mult.Y().value(), 15.0, kEpsilon);
}
TEST(Translation2dTest, Division) {
const Translation2d original{3.0_m, 5.0_m};
const auto div = original / 2;
EXPECT_NEAR(div.X().to<double>(), 1.5, kEpsilon);
EXPECT_NEAR(div.Y().to<double>(), 2.5, kEpsilon);
EXPECT_NEAR(div.X().value(), 1.5, kEpsilon);
EXPECT_NEAR(div.Y().value(), 2.5, kEpsilon);
}
TEST(Translation2dTest, Norm) {
const Translation2d one{3.0_m, 5.0_m};
EXPECT_NEAR(one.Norm().to<double>(), std::hypot(3, 5), kEpsilon);
EXPECT_NEAR(one.Norm().value(), std::hypot(3, 5), kEpsilon);
}
TEST(Translation2dTest, Distance) {
const Translation2d one{1_m, 1_m};
const Translation2d two{6_m, 6_m};
EXPECT_NEAR(one.Distance(two).to<double>(), 5 * std::sqrt(2), kEpsilon);
EXPECT_NEAR(one.Distance(two).value(), 5 * std::sqrt(2), kEpsilon);
}
TEST(Translation2dTest, UnaryMinus) {
const Translation2d original{-4.5_m, 7_m};
const auto inverted = -original;
EXPECT_NEAR(inverted.X().to<double>(), 4.5, kEpsilon);
EXPECT_NEAR(inverted.Y().to<double>(), -7, kEpsilon);
EXPECT_NEAR(inverted.X().value(), 4.5, kEpsilon);
EXPECT_NEAR(inverted.Y().value(), -7, kEpsilon);
}
TEST(Translation2dTest, Equality) {
@@ -88,10 +88,10 @@ TEST(Translation2dTest, Inequality) {
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);
EXPECT_NEAR(one.X().value(), 1.0, kEpsilon);
EXPECT_NEAR(one.Y().value(), 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);
EXPECT_NEAR(two.X().value(), 1.0, kEpsilon);
EXPECT_NEAR(two.Y().value(), std::sqrt(3.0), kEpsilon);
}

25
wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp
View File

@@ -17,9 +17,9 @@ TEST(Twist2dTest, Straight) {
const Twist2d straight{5.0_m, 0.0_m, 0.0_rad};
const auto straightPose = Pose2d().Exp(straight);
EXPECT_NEAR(straightPose.X().to<double>(), 5.0, kEpsilon);
EXPECT_NEAR(straightPose.Y().to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(straightPose.Rotation().Radians().to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(straightPose.X().value(), 5.0, kEpsilon);
EXPECT_NEAR(straightPose.Y().value(), 0.0, kEpsilon);
EXPECT_NEAR(straightPose.Rotation().Radians().value(), 0.0, kEpsilon);
}
TEST(Twist2dTest, QuarterCircle) {
@@ -27,19 +27,18 @@ TEST(Twist2dTest, QuarterCircle) {
units::radian_t(wpi::numbers::pi / 2.0)};
const auto quarterCirclePose = Pose2d().Exp(quarterCircle);
EXPECT_NEAR(quarterCirclePose.X().to<double>(), 5.0, kEpsilon);
EXPECT_NEAR(quarterCirclePose.Y().to<double>(), 5.0, kEpsilon);
EXPECT_NEAR(quarterCirclePose.Rotation().Degrees().to<double>(), 90.0,
kEpsilon);
EXPECT_NEAR(quarterCirclePose.X().value(), 5.0, kEpsilon);
EXPECT_NEAR(quarterCirclePose.Y().value(), 5.0, kEpsilon);
EXPECT_NEAR(quarterCirclePose.Rotation().Degrees().value(), 90.0, kEpsilon);
}
TEST(Twist2dTest, DiagonalNoDtheta) {
const Twist2d diagonal{2.0_m, 2.0_m, 0.0_deg};
const auto diagonalPose = Pose2d().Exp(diagonal);
EXPECT_NEAR(diagonalPose.X().to<double>(), 2.0, kEpsilon);
EXPECT_NEAR(diagonalPose.Y().to<double>(), 2.0, kEpsilon);
EXPECT_NEAR(diagonalPose.Rotation().Degrees().to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(diagonalPose.X().value(), 2.0, kEpsilon);
EXPECT_NEAR(diagonalPose.Y().value(), 2.0, kEpsilon);
EXPECT_NEAR(diagonalPose.Rotation().Degrees().value(), 0.0, kEpsilon);
}
TEST(Twist2dTest, Equality) {
@@ -60,7 +59,7 @@ TEST(Twist2dTest, Pose2dLog) {
const auto twist = start.Log(end);
EXPECT_NEAR(twist.dx.to<double>(), 5 / 2.0 * wpi::numbers::pi, kEpsilon);
EXPECT_NEAR(twist.dy.to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(twist.dtheta.to<double>(), wpi::numbers::pi / 2.0, kEpsilon);
EXPECT_NEAR(twist.dx.value(), 5 / 2.0 * wpi::numbers::pi, kEpsilon);
EXPECT_NEAR(twist.dy.value(), 0.0, kEpsilon);
EXPECT_NEAR(twist.dtheta.value(), wpi::numbers::pi / 2.0, kEpsilon);
}