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[wpimath] Make transform tests use pose/transform equality operators (#4675)

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Also add more nonzeros to Transform3d tests to make them more
comprehensive.
This commit is contained in:
Tyler Veness
2022-12-02 08:36:57 -08:00
committed by GitHub
parent e22d8cc343
commit 74cc86c4c5
4 changed files with 14 additions and 67 deletions
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21
wpimath/src/test/java/edu/wpi/first/math/geometry/Transform2dTest.java
View File

@@ -4,14 +4,11 @@
package edu.wpi.first.math.geometry;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import org.junit.jupiter.api.Test;
class Transform2dTest {
private static final double kEpsilon = 1E-9;
@Test
void testInverse() {
var initial = new Pose2d(new Translation2d(1.0, 2.0), Rotation2d.fromDegrees(45.0));
@@ -20,14 +17,7 @@ class Transform2dTest {
var transformed = initial.plus(transform);
var untransformed = transformed.plus(transform.inverse());
assertAll(
() -> assertEquals(initial.getX(), untransformed.getX(), kEpsilon),
() -> assertEquals(initial.getY(), untransformed.getY(), kEpsilon),
() ->
assertEquals(
initial.getRotation().getDegrees(),
untransformed.getRotation().getDegrees(),
kEpsilon));
assertEquals(initial, untransformed);
}
@Test
@@ -39,13 +29,6 @@ class Transform2dTest {
var transformedSeparate = initial.plus(transform1).plus(transform2);
var transformedCombined = initial.plus(transform1.plus(transform2));
assertAll(
() -> assertEquals(transformedSeparate.getX(), transformedCombined.getX(), kEpsilon),
() -> assertEquals(transformedSeparate.getY(), transformedCombined.getY(), kEpsilon),
() ->
assertEquals(
transformedSeparate.getRotation().getDegrees(),
transformedCombined.getRotation().getDegrees(),
kEpsilon));
assertEquals(transformedSeparate, transformedCombined);
}
}

27
wpimath/src/test/java/edu/wpi/first/math/geometry/Transform3dTest.java
View File

@@ -4,7 +4,6 @@
package edu.wpi.first.math.geometry;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.VecBuilder;
@@ -12,29 +11,21 @@ import edu.wpi.first.math.util.Units;
import org.junit.jupiter.api.Test;
class Transform3dTest {
private static final double kEpsilon = 1E-9;
@Test
void testInverse() {
var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var initial =
new Pose3d(
new Translation3d(1.0, 2.0, 0.0), new Rotation3d(zAxis, Units.degreesToRadians(45.0)));
new Translation3d(1.0, 2.0, 3.0), new Rotation3d(zAxis, Units.degreesToRadians(45.0)));
var transform =
new Transform3d(
new Translation3d(5.0, 0.0, 0.0), new Rotation3d(zAxis, Units.degreesToRadians(5.0)));
new Translation3d(5.0, 4.0, 3.0), new Rotation3d(zAxis, Units.degreesToRadians(5.0)));
var transformed = initial.plus(transform);
var untransformed = transformed.plus(transform.inverse());
assertAll(
() -> assertEquals(initial.getX(), untransformed.getX(), kEpsilon),
() -> assertEquals(initial.getY(), untransformed.getY(), kEpsilon),
() -> assertEquals(initial.getZ(), untransformed.getZ(), kEpsilon),
() ->
assertEquals(
initial.getRotation().getZ(), untransformed.getRotation().getZ(), kEpsilon));
assertEquals(initial, untransformed);
}
@Test
@@ -43,7 +34,7 @@ class Transform3dTest {
var initial =
new Pose3d(
new Translation3d(1.0, 2.0, 0.0), new Rotation3d(zAxis, Units.degreesToRadians(45.0)));
new Translation3d(1.0, 2.0, 3.0), new Rotation3d(zAxis, Units.degreesToRadians(45.0)));
var transform1 =
new Transform3d(
new Translation3d(5.0, 0.0, 0.0), new Rotation3d(zAxis, Units.degreesToRadians(5.0)));
@@ -54,14 +45,6 @@ class Transform3dTest {
var transformedSeparate = initial.plus(transform1).plus(transform2);
var transformedCombined = initial.plus(transform1.plus(transform2));
assertAll(
() -> assertEquals(transformedSeparate.getX(), transformedCombined.getX(), kEpsilon),
() -> assertEquals(transformedSeparate.getY(), transformedCombined.getY(), kEpsilon),
() -> assertEquals(transformedSeparate.getZ(), transformedCombined.getZ(), kEpsilon),
() ->
assertEquals(
transformedSeparate.getRotation().getZ(),
transformedCombined.getRotation().getZ(),
kEpsilon));
assertEquals(transformedSeparate, transformedCombined);
}
}