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[wpimath] Fix Pose3d exp()/log() and add rotation vector constructor to Rotation3d (#5072)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Jordan McMichael
2023-02-09 00:31:03 -05:00
committed by GitHub
parent 37f065032f
commit 59be120982
7 changed files with 93 additions and 27 deletions
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6
wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation3dTest.java
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@@ -24,17 +24,23 @@ class Rotation3dTest {
final var xAxis = VecBuilder.fill(1.0, 0.0, 0.0);
final var rot1 = new Rotation3d(xAxis, Math.PI / 3);
final var rot2 = new Rotation3d(Math.PI / 3, 0.0, 0.0);
final var rvec1 = new Rotation3d(xAxis.times(Math.PI / 3));
assertEquals(rot1, rot2);
assertEquals(rot1, rvec1);
final var yAxis = VecBuilder.fill(0.0, 1.0, 0.0);
final var rot3 = new Rotation3d(yAxis, Math.PI / 3);
final var rot4 = new Rotation3d(0.0, Math.PI / 3, 0.0);
final var rvec2 = new Rotation3d(yAxis.times(Math.PI / 3));
assertEquals(rot3, rot4);
assertEquals(rot3, rvec2);
final var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
final var rot5 = new Rotation3d(zAxis, Math.PI / 3);
final var rot6 = new Rotation3d(0.0, 0.0, Math.PI / 3);
final var rvec3 = new Rotation3d(zAxis.times(Math.PI / 3));
assertEquals(rot5, rot6);
assertEquals(rot5, rvec3);
}
@Test