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[wpilib] Add X and Y component getters to Pose2d and Transform2d (#2563)

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pose.Translation().X() and pose.Translation.Y() are common operations,
so shortening them to pose.X() and pose.Y() would be convenient.

Java uses the getX() convention so that is used instead of X() for Java.
This commit is contained in:
Tyler Veness
2020-07-02 18:09:36 -07:00
committed by GitHub
parent 5ccc98bc14
commit 2a0f79b90f
39 changed files with 228 additions and 192 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/RamseteControllerTest.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -63,9 +63,9 @@ class RamseteControllerTest {
// must be final or effectively final.
final var finalRobotPose = robotPose;
assertAll(
() -> assertEquals(endPose.getTranslation().getX(), finalRobotPose.getTranslation().getX(),
() -> assertEquals(endPose.getX(), finalRobotPose.getX(),
kTolerance),
() -> assertEquals(endPose.getTranslation().getY(), finalRobotPose.getTranslation().getY(),
() -> assertEquals(endPose.getY(), finalRobotPose.getY(),
kTolerance),
() -> assertEquals(0.0,
boundRadians(endPose.getRotation().getRadians()

14
wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Pose2dTest.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -25,8 +25,8 @@ class Pose2dTest {
var transformed = initial.plus(transformation);
assertAll(
() -> assertEquals(transformed.getTranslation().getX(), 1 + 5.0 / Math.sqrt(2.0), kEpsilon),
() -> assertEquals(transformed.getTranslation().getY(), 2 + 5.0 / Math.sqrt(2.0), kEpsilon),
() -> assertEquals(transformed.getX(), 1 + 5.0 / Math.sqrt(2.0), kEpsilon),
() -> assertEquals(transformed.getY(), 2 + 5.0 / Math.sqrt(2.0), kEpsilon),
() -> assertEquals(transformed.getRotation().getDegrees(), 50.0, kEpsilon)
);
}
@@ -39,9 +39,9 @@ class Pose2dTest {
var finalRelativeToInitial = last.relativeTo(initial);
assertAll(
() -> assertEquals(finalRelativeToInitial.getTranslation().getX(), 5.0 * Math.sqrt(2.0),
() -> assertEquals(finalRelativeToInitial.getX(), 5.0 * Math.sqrt(2.0),
kEpsilon),
() -> assertEquals(finalRelativeToInitial.getTranslation().getY(), 0.0, kEpsilon),
() -> assertEquals(finalRelativeToInitial.getY(), 0.0, kEpsilon),
() -> assertEquals(finalRelativeToInitial.getRotation().getDegrees(), 0.0, kEpsilon)
);
}
@@ -67,8 +67,8 @@ class Pose2dTest {
final var transform = last.minus(initial);
assertAll(
() -> assertEquals(transform.getTranslation().getX(), 5.0 * Math.sqrt(2.0), kEpsilon),
() -> assertEquals(transform.getTranslation().getY(), 0.0, kEpsilon),
() -> assertEquals(transform.getX(), 5.0 * Math.sqrt(2.0), kEpsilon),
() -> assertEquals(transform.getY(), 0.0, kEpsilon),
() -> assertEquals(transform.getRotation().getDegrees(), 0.0, kEpsilon)
);
}

4
wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Transform2dTest.java
View File

@@ -25,9 +25,9 @@ class Transform2dTest {
var untransformed = transformed.plus(transformation.inverse());
assertAll(
() -> assertEquals(initial.getTranslation().getX(), untransformed.getTranslation().getX(),
() -> assertEquals(initial.getX(), untransformed.getX(),
kEpsilon),
() -> assertEquals(initial.getTranslation().getY(), untransformed.getTranslation().getY(),
() -> assertEquals(initial.getY(), untransformed.getY(),
kEpsilon),
() -> assertEquals(initial.getRotation().getDegrees(),
untransformed.getRotation().getDegrees(), kEpsilon)

14
wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Twist2dTest.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -22,8 +22,8 @@ class Twist2dTest {
var straightPose = new Pose2d().exp(straight);
assertAll(
() -> assertEquals(straightPose.getTranslation().getX(), 5.0, kEpsilon),
() -> assertEquals(straightPose.getTranslation().getY(), 0.0, kEpsilon),
() -> assertEquals(straightPose.getX(), 5.0, kEpsilon),
() -> assertEquals(straightPose.getY(), 0.0, kEpsilon),
() -> assertEquals(straightPose.getRotation().getRadians(), 0.0, kEpsilon)
);
}
@@ -34,8 +34,8 @@ class Twist2dTest {
var quarterCirclePose = new Pose2d().exp(quarterCircle);
assertAll(
() -> assertEquals(quarterCirclePose.getTranslation().getX(), 5.0, kEpsilon),
() -> assertEquals(quarterCirclePose.getTranslation().getY(), 5.0, kEpsilon),
() -> assertEquals(quarterCirclePose.getX(), 5.0, kEpsilon),
() -> assertEquals(quarterCirclePose.getY(), 5.0, kEpsilon),
() -> assertEquals(quarterCirclePose.getRotation().getDegrees(), 90.0, kEpsilon)
);
}
@@ -46,8 +46,8 @@ class Twist2dTest {
var diagonalPose = new Pose2d().exp(diagonal);
assertAll(
() -> assertEquals(diagonalPose.getTranslation().getX(), 2.0, kEpsilon),
() -> assertEquals(diagonalPose.getTranslation().getY(), 2.0, kEpsilon),
() -> assertEquals(diagonalPose.getX(), 2.0, kEpsilon),
() -> assertEquals(diagonalPose.getY(), 2.0, kEpsilon),
() -> assertEquals(diagonalPose.getRotation().getDegrees(), 0.0, kEpsilon)
);
}

6
wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometryTest.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -26,8 +26,8 @@ class DifferentialDriveOdometryTest {
var pose = m_odometry.update(Rotation2d.fromDegrees(135.0), 0.0, 5 * Math.PI);
assertAll(
() -> assertEquals(pose.getTranslation().getX(), 5.0, kEpsilon),
() -> assertEquals(pose.getTranslation().getY(), 5.0, kEpsilon),
() -> assertEquals(pose.getX(), 5.0, kEpsilon),
() -> assertEquals(pose.getY(), 5.0, kEpsilon),
() -> assertEquals(pose.getRotation().getDegrees(), 90.0, kEpsilon)
);
}

18
wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometryTest.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -37,8 +37,8 @@ class MecanumDriveOdometryTest {
var secondPose = m_odometry.updateWithTime(0.0, new Rotation2d(), wheelSpeeds);
assertAll(
() -> assertEquals(secondPose.getTranslation().getX(), 0.0, 0.01),
() -> assertEquals(secondPose.getTranslation().getY(), 0.0, 0.01),
() -> assertEquals(secondPose.getX(), 0.0, 0.01),
() -> assertEquals(secondPose.getY(), 0.0, 0.01),
() -> assertEquals(secondPose.getRotation().getDegrees(), 0.0, 0.01)
);
}
@@ -52,8 +52,8 @@ class MecanumDriveOdometryTest {
var pose = m_odometry.updateWithTime(0.10, new Rotation2d(), wheelSpeeds);
assertAll(
() -> assertEquals(5.0 / 10.0, pose.getTranslation().getX(), 0.01),
() -> assertEquals(0, pose.getTranslation().getY(), 0.01),
() -> assertEquals(5.0 / 10.0, pose.getX(), 0.01),
() -> assertEquals(0, pose.getY(), 0.01),
() -> assertEquals(0.0, pose.getRotation().getDegrees(), 0.01)
);
}
@@ -68,8 +68,8 @@ class MecanumDriveOdometryTest {
final var pose = m_odometry.updateWithTime(1.0, Rotation2d.fromDegrees(90.0), wheelSpeeds);
assertAll(
() -> assertEquals(12.0, pose.getTranslation().getX(), 0.01),
() -> assertEquals(12.0, pose.getTranslation().getY(), 0.01),
() -> assertEquals(12.0, pose.getX(), 0.01),
() -> assertEquals(12.0, pose.getY(), 0.01),
() -> assertEquals(90.0, pose.getRotation().getDegrees(), 0.01)
);
}
@@ -85,8 +85,8 @@ class MecanumDriveOdometryTest {
var pose = m_odometry.updateWithTime(1.0, gyro, speeds);
assertAll(
() -> assertEquals(5.0, pose.getTranslation().getX(), 0.1),
() -> assertEquals(0.00, pose.getTranslation().getY(), 0.1),
() -> assertEquals(5.0, pose.getX(), 0.1),
() -> assertEquals(0.00, pose.getY(), 0.1),
() -> assertEquals(0.00, pose.getRotation().getRadians(), 0.1)
);
}

14
wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometryTest.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -44,8 +44,8 @@ class SwerveDriveOdometryTest {
var pose = m_odometry.updateWithTime(0.10, new Rotation2d(), wheelSpeeds);
assertAll(
() -> assertEquals(5.0 / 10.0, pose.getTranslation().getX(), 0.01),
() -> assertEquals(0, pose.getTranslation().getY(), 0.01),
() -> assertEquals(5.0 / 10.0, pose.getX(), 0.01),
() -> assertEquals(0, pose.getY(), 0.01),
() -> assertEquals(0.0, pose.getRotation().getDegrees(), 0.01)
);
}
@@ -70,8 +70,8 @@ class SwerveDriveOdometryTest {
final var pose = m_odometry.updateWithTime(1.0, Rotation2d.fromDegrees(90.0), wheelSpeeds);
assertAll(
() -> assertEquals(12.0, pose.getTranslation().getX(), 0.01),
() -> assertEquals(12.0, pose.getTranslation().getY(), 0.01),
() -> assertEquals(12.0, pose.getX(), 0.01),
() -> assertEquals(12.0, pose.getY(), 0.01),
() -> assertEquals(90.0, pose.getRotation().getDegrees(), 0.01)
);
}
@@ -87,8 +87,8 @@ class SwerveDriveOdometryTest {
var pose = m_odometry.updateWithTime(1.0, gyro, state, state, state, state);
assertAll(
() -> assertEquals(1.0, pose.getTranslation().getX(), 0.1),
() -> assertEquals(0.00, pose.getTranslation().getY(), 0.1),
() -> assertEquals(1.0, pose.getX(), 0.1),
() -> assertEquals(0.00, pose.getY(), 0.1),
() -> assertEquals(0.00, pose.getRotation().getRadians(), 0.1)
);
}

16
wpilibj/src/test/java/edu/wpi/first/wpilibj/spline/CubicHermiteSplineTest.java
View File

@@ -71,10 +71,10 @@ class CubicHermiteSplineTest {
// Check first point
assertAll(
() -> assertEquals(a.getTranslation().getX(),
poses.get(0).poseMeters.getTranslation().getX(), 1E-9),
() -> assertEquals(a.getTranslation().getY(),
poses.get(0).poseMeters.getTranslation().getY(), 1E-9),
() -> assertEquals(a.getX(),
poses.get(0).poseMeters.getX(), 1E-9),
() -> assertEquals(a.getY(),
poses.get(0).poseMeters.getY(), 1E-9),
() -> assertEquals(a.getRotation().getRadians(),
poses.get(0).poseMeters.getRotation().getRadians(), 1E-9)
);
@@ -95,10 +95,10 @@ class CubicHermiteSplineTest {
// Check last point
assertAll(
() -> assertEquals(b.getTranslation().getX(),
poses.get(poses.size() - 1).poseMeters.getTranslation().getX(), 1E-9),
() -> assertEquals(b.getTranslation().getY(),
poses.get(poses.size() - 1).poseMeters.getTranslation().getY(), 1E-9),
() -> assertEquals(b.getX(),
poses.get(poses.size() - 1).poseMeters.getX(), 1E-9),
() -> assertEquals(b.getY(),
poses.get(poses.size() - 1).poseMeters.getY(), 1E-9),
() -> assertEquals(b.getRotation().getRadians(),
poses.get(poses.size() - 1).poseMeters.getRotation().getRadians(), 1E-9)
);

12
wpilibj/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java
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@@ -57,19 +57,19 @@ class QuinticHermiteSplineTest {
// Check first point
assertAll(
() -> assertEquals(
a.getTranslation().getX(), poses.get(0).poseMeters.getTranslation().getX(), 1E-9),
a.getX(), poses.get(0).poseMeters.getX(), 1E-9),
() -> assertEquals(
a.getTranslation().getY(), poses.get(0).poseMeters.getTranslation().getY(), 1E-9),
a.getY(), poses.get(0).poseMeters.getY(), 1E-9),
() -> assertEquals(
a.getRotation().getRadians(), poses.get(0).poseMeters.getRotation().getRadians(),
1E-9));
// Check last point
assertAll(
() -> assertEquals(b.getTranslation().getX(), poses.get(poses.size() - 1)
.poseMeters.getTranslation().getX(), 1E-9),
() -> assertEquals(b.getTranslation().getY(), poses.get(poses.size() - 1)
.poseMeters.getTranslation().getY(), 1E-9),
() -> assertEquals(b.getX(), poses.get(poses.size() - 1)
.poseMeters.getX(), 1E-9),
() -> assertEquals(b.getY(), poses.get(poses.size() - 1)
.poseMeters.getY(), 1E-9),
() -> assertEquals(b.getRotation().getRadians(),
poses.get(poses.size() - 1).poseMeters.getRotation().getRadians(), 1E-9));
}