[wpimath] Add affine transformation constructors and getters to geometry API (#7509)

Fixes #7429.
2026-06-27 02:01:42 +00:00 · 2024-12-07 21:29:02 -08:00
parent c81bd0c909
commit 62a6a77bbf
32 changed files with 611 additions and 27 deletions
--- a/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
@@ -78,6 +78,13 @@ TEST(Rotation2dTest, Inequality) {
  EXPECT_NE(rot1, rot2);
 }

+TEST(Rotation2dTest, ToMatrix) {
+  Rotation2d before{20_deg};
+  Rotation2d after{before.ToMatrix()};
+
+  EXPECT_EQ(before, after);
+}
+
 TEST(Rotation2dTest, Constexpr) {
  constexpr Rotation2d defaultCtor;
  constexpr Rotation2d radianCtor{5_rad};