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[wpimath] Add RotateBy() function to pose classes (#5491)

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Fixes #5472.
This commit is contained in:
Tyler Veness
2023-07-31 21:16:44 -07:00
committed by GitHub
parent 26d6e68c8f
commit 35a8b129d9
10 changed files with 139 additions and 0 deletions
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22
wpimath/src/test/java/edu/wpi/first/math/geometry/Pose2dTest.java
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@@ -14,6 +14,28 @@ import org.junit.jupiter.api.Test;
class Pose2dTest {
private static final double kEpsilon = 1E-9;
@Test
void testRotateBy() {
final double x = 1.0;
final double y = 2.0;
var initial = new Pose2d(new Translation2d(x, y), Rotation2d.fromDegrees(45.0));
var rotation = Rotation2d.fromDegrees(5.0);
var rotated = initial.rotateBy(rotation);
// Translation is rotated by CCW rotation matrix
double c = rotation.getCos();
double s = rotation.getSin();
assertAll(
() -> assertEquals(c * x - s * y, rotated.getX(), kEpsilon),
() -> assertEquals(s * x + c * y, rotated.getY(), kEpsilon),
() ->
assertEquals(
initial.getRotation().getDegrees() + rotation.getDegrees(),
rotated.getRotation().getDegrees(),
kEpsilon));
}
@Test
void testTransformBy() {
var initial = new Pose2d(new Translation2d(1.0, 2.0), Rotation2d.fromDegrees(45.0));

32
wpimath/src/test/java/edu/wpi/first/math/geometry/Pose3dTest.java
View File

@@ -17,6 +17,38 @@ import org.junit.jupiter.api.Test;
class Pose3dTest {
private static final double kEpsilon = 1E-9;
@Test
void testRotateBy() {
final double x = 1.0;
final double y = 2.0;
var initial =
new Pose3d(
new Translation3d(x, y, 0.0),
new Rotation3d(
Units.degreesToRadians(0.0),
Units.degreesToRadians(0.0),
Units.degreesToRadians(45.0)));
double yaw = Units.degreesToRadians(5.0);
var rotation = new Rotation3d(Units.degreesToRadians(0.0), Units.degreesToRadians(0.0), yaw);
var rotated = initial.rotateBy(rotation);
// Translation is rotated by CCW rotation matrix
double c = Math.cos(yaw);
double s = Math.sin(yaw);
assertAll(
() -> assertEquals(c * x - s * y, rotated.getX(), kEpsilon),
() -> assertEquals(s * x + c * y, rotated.getY(), kEpsilon),
() -> assertEquals(0.0, rotated.getZ(), kEpsilon),
() -> assertEquals(0.0, rotated.getRotation().getX(), kEpsilon),
() -> assertEquals(0.0, rotated.getRotation().getY(), kEpsilon),
() ->
assertEquals(
initial.getRotation().getZ() + rotation.getZ(),
rotated.getRotation().getZ(),
kEpsilon));
}
@Test
void testTransformByRotations() {
var initialPose =

18
wpimath/src/test/native/cpp/geometry/Pose2dTest.cpp
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@@ -10,6 +10,24 @@
using namespace frc;
TEST(Pose2dTest, RotateBy) {
constexpr auto x = 1_m;
constexpr auto y = 2_m;
const Pose2d initial{x, y, 45_deg};
const Rotation2d rotation{5_deg};
const auto rotated = initial.RotateBy(rotation);
// Translation is rotated by CCW rotation matrix
double c = rotation.Cos();
double s = rotation.Sin();
EXPECT_DOUBLE_EQ(c * x.value() - s * y.value(), rotated.X().value());
EXPECT_DOUBLE_EQ(s * x.value() + c * y.value(), rotated.Y().value());
EXPECT_DOUBLE_EQ(
initial.Rotation().Degrees().value() + rotation.Degrees().value(),
rotated.Rotation().Degrees().value());
}
TEST(Pose2dTest, TransformBy) {
const Pose2d initial{1_m, 2_m, 45_deg};
const Transform2d transform{Translation2d{5_m, 0_m}, 5_deg};

21
wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp
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@@ -11,6 +11,27 @@
using namespace frc;
TEST(Pose3dTest, RotateBy) {
constexpr auto x = 1_m;
constexpr auto y = 2_m;
const Pose3d initial{x, y, 0_m, Rotation3d{0_deg, 0_deg, 45_deg}};
constexpr units::radian_t yaw = 5_deg;
const Rotation3d rotation{0_deg, 0_deg, yaw};
const auto rotated = initial.RotateBy(rotation);
// Translation is rotated by CCW rotation matrix
double c = std::cos(yaw.value());
double s = std::sin(yaw.value());
EXPECT_DOUBLE_EQ(c * x.value() - s * y.value(), rotated.X().value());
EXPECT_DOUBLE_EQ(s * x.value() + c * y.value(), rotated.Y().value());
EXPECT_DOUBLE_EQ(0.0, rotated.Z().value());
EXPECT_DOUBLE_EQ(0.0, rotated.Rotation().X().value());
EXPECT_DOUBLE_EQ(0.0, rotated.Rotation().Y().value());
EXPECT_DOUBLE_EQ(initial.Rotation().Z().value() + rotation.Z().value(),
rotated.Rotation().Z().value());
}
TEST(Pose3dTest, TestTransformByRotations) {
const double kEpsilon = 1E-9;