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[wpimath] Move struct/proto classes to separate files (#5918)

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Also add unit tests.
This commit is contained in:
PJ Reiniger
2023-11-21 13:11:57 -05:00
committed by GitHub
parent 80d7ad58ea
commit 35744a036e
141 changed files with 3360 additions and 1379 deletions
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32
wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp Normal file
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// 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 <gtest/gtest.h>
#include "frc/geometry/Twist3d.h"
#include "geometry3d.pb.h"
using namespace frc;
namespace {
using ProtoType = wpi::Protobuf<frc::Twist3d>;
const Twist3d kExpectedData =
Twist3d{1.1_m, 2.29_m, 35.04_m, 0.174_rad, 19.1_rad, 4.4_rad};
} // namespace
TEST(Twist3dProtoTest, Roundtrip) {
google::protobuf::Arena arena;
google::protobuf::Message* proto = ProtoType::New(&arena);
ProtoType::Pack(proto, kExpectedData);
Twist3d unpacked_data = ProtoType::Unpack(*proto);
EXPECT_EQ(kExpectedData.dx.value(), unpacked_data.dx.value());
EXPECT_EQ(kExpectedData.dy.value(), unpacked_data.dy.value());
EXPECT_EQ(kExpectedData.dz.value(), unpacked_data.dz.value());
EXPECT_EQ(kExpectedData.rx.value(), unpacked_data.rx.value());
EXPECT_EQ(kExpectedData.ry.value(), unpacked_data.ry.value());
EXPECT_EQ(kExpectedData.rz.value(), unpacked_data.rz.value());
}