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[wpimath] Add vector projection and geometry vector conversions (#6343)

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This commit is contained in:
Asa Paparo
2024-02-10 13:43:58 -05:00
committed by GitHub
parent 3207795d0d
commit 62cba9a4d3
21 changed files with 234 additions and 24 deletions
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10
wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp
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@@ -126,6 +126,16 @@ TEST(Translation2dTest, Nearest) {
translation2.Y().value());
}
TEST(Translation2dTest, ToVector) {
const Eigen::Vector2d vec(1.0, 2.0);
const Translation2d translation{vec};
EXPECT_DOUBLE_EQ(vec[0], translation.X().value());
EXPECT_DOUBLE_EQ(vec[1], translation.Y().value());
EXPECT_TRUE(vec == translation.ToVector());
}
TEST(Translation2dTest, Constexpr) {
constexpr Translation2d defaultCtor;
constexpr Translation2d componentCtor{1_m, 2_m};

11
wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp
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@@ -128,6 +128,17 @@ TEST(Translation3dTest, PolarConstructor) {
EXPECT_NEAR(two.Z().value(), 0.0, kEpsilon);
}
TEST(Translation3dTest, ToVector) {
const Eigen::Vector3d vec(1.0, 2.0, 3.0);
const Translation3d translation{vec};
EXPECT_DOUBLE_EQ(vec[0], translation.X().value());
EXPECT_DOUBLE_EQ(vec[1], translation.Y().value());
EXPECT_DOUBLE_EQ(vec[2], translation.Z().value());
EXPECT_TRUE(vec == translation.ToVector());
}
TEST(Translation3dTest, Constexpr) {
constexpr Translation3d defaultCtor;
constexpr Translation3d componentCtor{1_m, 2_m, 3_m};