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Add equality comparator to geometry classes (#1882)

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This commit is contained in:
Prateek Machiraju
2019-09-08 14:20:26 -04:00
committed by Peter Johnson
parent 62f07c182c
commit 86b666bba9
26 changed files with 341 additions and 10 deletions
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12
wpilibc/src/test/native/cpp/geometry/Pose2dTest.cpp
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@@ -40,3 +40,15 @@ TEST(Pose2dTest, RelativeTo) {
EXPECT_NEAR(finalRelativeToInitial.Rotation().Degrees().to<double>(), 0.0,
kEpsilon);
}
TEST(Pose2dTest, Equality) {
const Pose2d a{0_m, 5_m, Rotation2d(43_deg)};
const Pose2d b{0_m, 5_m, Rotation2d(43_deg)};
EXPECT_TRUE(a == b);
}
TEST(Pose2dTest, Inequality) {
const Pose2d a{0_m, 5_m, Rotation2d(43_deg)};
const Pose2d b{0_m, 5_ft, Rotation2d(43_deg)};
EXPECT_TRUE(a != b);
}

12
wpilibc/src/test/native/cpp/geometry/Rotation2dTest.cpp
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@@ -53,3 +53,15 @@ TEST(Rotation2dTest, Minus) {
EXPECT_NEAR((one - two).Degrees().to<double>(), 40.0, kEpsilon);
}
TEST(Rotation2dTest, Equality) {
const auto one = Rotation2d(43_deg);
const auto two = Rotation2d(43_deg);
EXPECT_TRUE(one == two);
}
TEST(Rotation2dTest, Inequality) {
const auto one = Rotation2d(43_deg);
const auto two = Rotation2d(43.5_deg);
EXPECT_TRUE(one != two);
}

12
wpilibc/src/test/native/cpp/geometry/Translation2dTest.cpp
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@@ -76,3 +76,15 @@ TEST(Translation2dTest, UnaryMinus) {
EXPECT_NEAR(inverted.X().to<double>(), 4.5, kEpsilon);
EXPECT_NEAR(inverted.Y().to<double>(), -7, kEpsilon);
}
TEST(Translation2dTest, Equality) {
const Translation2d one{9_m, 5.5_m};
const Translation2d two{9_m, 5.5_m};
EXPECT_TRUE(one == two);
}
TEST(Translation2dTest, Inequality) {
const Translation2d one{9_m, 5.5_m};
const Translation2d two{9_m, 5.7_m};
EXPECT_TRUE(one != two);
}

12
wpilibc/src/test/native/cpp/geometry/Twist2dTest.cpp
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@@ -44,3 +44,15 @@ TEST(Twist2dTest, DiagonalNoDtheta) {
EXPECT_NEAR(diagonalPose.Translation().Y().to<double>(), 2.0, kEpsilon);
EXPECT_NEAR(diagonalPose.Rotation().Degrees().to<double>(), 0.0, kEpsilon);
}
TEST(Twist2dTest, Equality) {
const Twist2d one{5.0_m, 1.0_m, 3.0_rad};
const Twist2d two{5.0_m, 1.0_m, 3.0_rad};
EXPECT_TRUE(one == two);
}
TEST(Twist2dTest, Inequality) {
const Twist2d one{5.0_m, 1.0_m, 3.0_rad};
const Twist2d two{5.0_m, 1.2_m, 3.0_rad};
EXPECT_TRUE(one != two);
}