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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/native/cpp/geometry/Rotation3dTest.cpp
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@@ -17,17 +17,23 @@ TEST(Rotation3dTest, InitAxisAngleAndRollPitchYaw) {
const Eigen::Vector3d xAxis{1.0, 0.0, 0.0};
const Rotation3d rot1{xAxis, units::radian_t{std::numbers::pi / 3}};
const Rotation3d rot2{units::radian_t{std::numbers::pi / 3}, 0_rad, 0_rad};
const Rotation3d rvec1{Eigen::Vector3d{xAxis * std::numbers::pi / 3}};
EXPECT_EQ(rot1, rot2);
EXPECT_EQ(rot1, rvec1);
const Eigen::Vector3d yAxis{0.0, 1.0, 0.0};
const Rotation3d rot3{yAxis, units::radian_t{std::numbers::pi / 3}};
const Rotation3d rot4{0_rad, units::radian_t{std::numbers::pi / 3}, 0_rad};
const Rotation3d rvec2{Eigen::Vector3d{yAxis * std::numbers::pi / 3}};
EXPECT_EQ(rot3, rot4);
EXPECT_EQ(rot3, rvec2);
const Eigen::Vector3d zAxis{0.0, 0.0, 1.0};
const Rotation3d rot5{zAxis, units::radian_t{std::numbers::pi / 3}};
const Rotation3d rot6{0_rad, 0_rad, units::radian_t{std::numbers::pi / 3}};
const Rotation3d rvec3{Eigen::Vector3d{zAxis * std::numbers::pi / 3}};
EXPECT_EQ(rot5, rot6);
EXPECT_EQ(rot5, rvec3);
}
TEST(Rotation3dTest, InitRotationMatrix) {