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[wpimath] Fix swerve kinematics util classes equals function (#4907)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
ohowe
2023-01-08 17:29:35 -07:00
committed by GitHub
parent 51272ef6b3
commit 330ba45f9c
8 changed files with 102 additions and 13 deletions
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23
wpimath/src/test/native/cpp/kinematics/SwerveModulePositionTest.cpp Normal file
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@@ -0,0 +1,23 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/geometry/Rotation2d.h"
#include "frc/kinematics/SwerveModulePosition.h"
#include "gtest/gtest.h"
TEST(SwerveModulePositionTest, Equality) {
frc::SwerveModulePosition position1{2_m, 90_deg};
frc::SwerveModulePosition position2{2_m, 90_deg};
EXPECT_EQ(position1, position2);
}
TEST(SwerveModulePositionTest, Inequality) {
frc::SwerveModulePosition position1{1_m, 90_deg};
frc::SwerveModulePosition position2{2_m, 90_deg};
frc::SwerveModulePosition position3{1_m, 89_deg};
EXPECT_NE(position1, position2);
EXPECT_NE(position1, position3);
}

16
wpimath/src/test/native/cpp/kinematics/SwerveModuleStateTest.cpp
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@@ -39,3 +39,19 @@ TEST(SwerveModuleStateTest, NoOptimize) {
EXPECT_NEAR(optimizedB.speed.value(), -2.0, kEpsilon);
EXPECT_NEAR(optimizedB.angle.Degrees().value(), -2.0, kEpsilon);
}
TEST(SwerveModuleStateTest, Equality) {
frc::SwerveModuleState state1{2_mps, 90_deg};
frc::SwerveModuleState state2{2_mps, 90_deg};
EXPECT_EQ(state1, state2);
}
TEST(SwerveModuleStateTest, Inequality) {
frc::SwerveModuleState state1{1_mps, 90_deg};
frc::SwerveModuleState state2{2_mps, 90_deg};
frc::SwerveModuleState state3{1_mps, 89_deg};
EXPECT_NE(state1, state2);
EXPECT_NE(state1, state3);
}