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[wpimath] Fix Rotation2d equality operator (#3128)

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This commit is contained in:
Tyler Veness
2021-01-25 21:41:34 -08:00
committed by GitHub
parent fb5c8c39ae
commit 2c2ccb3618
4 changed files with 45 additions and 36 deletions
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38
wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Rotation2dTest.java
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@@ -15,22 +15,22 @@ class Rotation2dTest {
@Test
void testRadiansToDegrees() {
var one = new Rotation2d(Math.PI / 3);
var two = new Rotation2d(Math.PI / 4);
var rot1 = new Rotation2d(Math.PI / 3);
var rot2 = new Rotation2d(Math.PI / 4);
assertAll(
() -> assertEquals(one.getDegrees(), 60.0, kEpsilon),
() -> assertEquals(two.getDegrees(), 45.0, kEpsilon));
() -> assertEquals(rot1.getDegrees(), 60.0, kEpsilon),
() -> assertEquals(rot2.getDegrees(), 45.0, kEpsilon));
}
@Test
void testRadiansAndDegrees() {
var one = Rotation2d.fromDegrees(45.0);
var two = Rotation2d.fromDegrees(30.0);
var rot1 = Rotation2d.fromDegrees(45.0);
var rot2 = Rotation2d.fromDegrees(30.0);
assertAll(
() -> assertEquals(one.getRadians(), Math.PI / 4, kEpsilon),
() -> assertEquals(two.getRadians(), Math.PI / 6, kEpsilon));
() -> assertEquals(rot1.getRadians(), Math.PI / 4, kEpsilon),
() -> assertEquals(rot2.getRadians(), Math.PI / 6, kEpsilon));
}
@Test
@@ -53,23 +53,27 @@ class Rotation2dTest {
@Test
void testMinus() {
var one = Rotation2d.fromDegrees(70.0);
var two = Rotation2d.fromDegrees(30.0);
var rot1 = Rotation2d.fromDegrees(70.0);
var rot2 = Rotation2d.fromDegrees(30.0);
assertEquals(one.minus(two).getDegrees(), 40.0, kEpsilon);
assertEquals(rot1.minus(rot2).getDegrees(), 40.0, kEpsilon);
}
@Test
void testEquality() {
var one = Rotation2d.fromDegrees(43.0);
var two = Rotation2d.fromDegrees(43.0);
assertEquals(one, two);
var rot1 = Rotation2d.fromDegrees(43.0);
var rot2 = Rotation2d.fromDegrees(43.0);
assertEquals(rot1, rot2);
var rot3 = Rotation2d.fromDegrees(-180.0);
var rot4 = Rotation2d.fromDegrees(180.0);
assertEquals(rot3, rot4);
}
@Test
void testInequality() {
var one = Rotation2d.fromDegrees(43.0);
var two = Rotation2d.fromDegrees(43.5);
assertNotEquals(one, two);
var rot1 = Rotation2d.fromDegrees(43.0);
var rot2 = Rotation2d.fromDegrees(43.5);
assertNotEquals(rot1, rot2);
}
}