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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/native/cpp/geometry/Rotation2dTest.cpp
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@@ -14,19 +14,19 @@ using namespace frc;
static constexpr double kEpsilon = 1E-9;
TEST(Rotation2dTest, RadiansToDegrees) {
const Rotation2d one{units::radian_t(wpi::math::pi / 3)};
const Rotation2d two{units::radian_t(wpi::math::pi / 4)};
const Rotation2d rot1{units::radian_t(wpi::math::pi / 3)};
const Rotation2d rot2{units::radian_t(wpi::math::pi / 4)};
EXPECT_NEAR(one.Degrees().to<double>(), 60.0, kEpsilon);
EXPECT_NEAR(two.Degrees().to<double>(), 45.0, kEpsilon);
EXPECT_NEAR(rot1.Degrees().to<double>(), 60.0, kEpsilon);
EXPECT_NEAR(rot2.Degrees().to<double>(), 45.0, kEpsilon);
}
TEST(Rotation2dTest, DegreesToRadians) {
const auto one = Rotation2d(45.0_deg);
const auto two = Rotation2d(30.0_deg);
const auto rot1 = Rotation2d(45.0_deg);
const auto rot2 = Rotation2d(30.0_deg);
EXPECT_NEAR(one.Radians().to<double>(), wpi::math::pi / 4.0, kEpsilon);
EXPECT_NEAR(two.Radians().to<double>(), wpi::math::pi / 6.0, kEpsilon);
EXPECT_NEAR(rot1.Radians().to<double>(), wpi::math::pi / 4.0, kEpsilon);
EXPECT_NEAR(rot2.Radians().to<double>(), wpi::math::pi / 6.0, kEpsilon);
}
TEST(Rotation2dTest, RotateByFromZero) {
@@ -45,20 +45,24 @@ TEST(Rotation2dTest, RotateByNonZero) {
}
TEST(Rotation2dTest, Minus) {
const auto one = Rotation2d(70.0_deg);
const auto two = Rotation2d(30.0_deg);
const auto rot1 = Rotation2d(70.0_deg);
const auto rot2 = Rotation2d(30.0_deg);
EXPECT_NEAR((one - two).Degrees().to<double>(), 40.0, kEpsilon);
EXPECT_NEAR((rot1 - rot2).Degrees().to<double>(), 40.0, kEpsilon);
}
TEST(Rotation2dTest, Equality) {
const auto one = Rotation2d(43_deg);
const auto two = Rotation2d(43_deg);
EXPECT_TRUE(one == two);
const auto rot1 = Rotation2d(43_deg);
const auto rot2 = Rotation2d(43_deg);
EXPECT_EQ(rot1, rot2);
const auto rot3 = Rotation2d(-180_deg);
const auto rot4 = Rotation2d(180_deg);
EXPECT_EQ(rot3, rot4);
}
TEST(Rotation2dTest, Inequality) {
const auto one = Rotation2d(43_deg);
const auto two = Rotation2d(43.5_deg);
EXPECT_TRUE(one != two);
const auto rot1 = Rotation2d(43_deg);
const auto rot2 = Rotation2d(43.5_deg);
EXPECT_NE(rot1, rot2);
}