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[wpimath] Add tolerance for some tests (#5416)

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This commit is contained in:
Vasista Vovveti
2023-06-27 17:22:46 -04:00
committed by GitHub
parent 3233883f3e
commit 6b5817836d
2 changed files with 8 additions and 8 deletions
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8
wpimath/src/test/native/cpp/geometry/Pose2dTest.cpp
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@@ -27,9 +27,9 @@ TEST(Pose2dTest, RelativeTo) {
const auto finalRelativeToInitial = final.RelativeTo(initial);
EXPECT_DOUBLE_EQ(5.0 * std::sqrt(2.0), finalRelativeToInitial.X().value());
EXPECT_NEAR(5.0 * std::sqrt(2.0), finalRelativeToInitial.X().value(), 1e-9);
EXPECT_NEAR(0.0, finalRelativeToInitial.Y().value(), 1e-9);
EXPECT_DOUBLE_EQ(0.0, finalRelativeToInitial.Rotation().Degrees().value());
EXPECT_NEAR(0.0, finalRelativeToInitial.Rotation().Degrees().value(), 1e-9);
}
TEST(Pose2dTest, Equality) {
@@ -50,9 +50,9 @@ TEST(Pose2dTest, Minus) {
const auto transform = final - initial;
EXPECT_DOUBLE_EQ(5.0 * std::sqrt(2.0), transform.X().value());
EXPECT_NEAR(5.0 * std::sqrt(2.0), transform.X().value(), 1e-9);
EXPECT_NEAR(0.0, transform.Y().value(), 1e-9);
EXPECT_DOUBLE_EQ(0.0, transform.Rotation().Degrees().value());
EXPECT_NEAR(0.0, transform.Rotation().Degrees().value(), 1e-9);
}
TEST(Pose2dTest, Nearest) {

8
wpimath/src/test/native/cpp/geometry/QuaternionTest.cpp
View File

@@ -64,10 +64,10 @@ TEST(QuaternionTest, Multiply) {
Quaternion q{0.72760687510899891, 0.29104275004359953, 0.38805700005813276,
0.48507125007266594};
actual = q * q.Inverse();
EXPECT_DOUBLE_EQ(1.0, actual.W());
EXPECT_DOUBLE_EQ(0.0, actual.X());
EXPECT_DOUBLE_EQ(0.0, actual.Y());
EXPECT_DOUBLE_EQ(0.0, actual.Z());
EXPECT_NEAR(1.0, actual.W(), 1e-9);
EXPECT_NEAR(0.0, actual.X(), 1e-9);
EXPECT_NEAR(0.0, actual.Y(), 1e-9);
EXPECT_NEAR(0.0, actual.Z(), 1e-9);
}
TEST(QuaternionTest, Inverse) {