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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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15
wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Pose2dTest.java
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@@ -11,6 +11,7 @@ import org.junit.jupiter.api.Test;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertNotEquals;
class Pose2dTest {
private static final double kEpsilon = 1E-9;
@@ -44,4 +45,18 @@ class Pose2dTest {
() -> assertEquals(finalRelativeToInitial.getRotation().getDegrees(), 0.0, kEpsilon)
);
}
@Test
void testEquality() {
var one = new Pose2d(0.0, 5.0, Rotation2d.fromDegrees(43.0));
var two = new Pose2d(0.0, 5.0, Rotation2d.fromDegrees(43.0));
assertEquals(one, two);
}
@Test
void testInequality() {
var one = new Pose2d(0.0, 5.0, Rotation2d.fromDegrees(43.0));
var two = new Pose2d(0.0, 1.524, Rotation2d.fromDegrees(43.0));
assertNotEquals(one, two);
}
}

15
wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Rotation2dTest.java
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@@ -11,6 +11,7 @@ import org.junit.jupiter.api.Test;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertNotEquals;
class Rotation2dTest {
private static final double kEpsilon = 1E-9;
@@ -63,4 +64,18 @@ class Rotation2dTest {
assertEquals(one.minus(two).getDegrees(), 40.0, kEpsilon);
}
@Test
void testEquality() {
var one = Rotation2d.fromDegrees(43.0);
var two = Rotation2d.fromDegrees(43.0);
assertEquals(one, two);
}
@Test
void testInequality() {
var one = Rotation2d.fromDegrees(43.0);
var two = Rotation2d.fromDegrees(43.5);
assertNotEquals(one, two);
}
}

15
wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Translation2dTest.java
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@@ -11,6 +11,7 @@ import org.junit.jupiter.api.Test;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertNotEquals;
class Translation2dTest {
private static final double kEpsilon = 1E-9;
@@ -97,4 +98,18 @@ class Translation2dTest {
() -> assertEquals(inverted.getY(), -7, kEpsilon)
);
}
@Test
void testEquality() {
var one = new Translation2d(9, 5.5);
var two = new Translation2d(9, 5.5);
assertEquals(one, two);
}
@Test
void testInequality() {
var one = new Translation2d(9, 5.5);
var two = new Translation2d(9, 5.7);
assertNotEquals(one, two);
}
}

15
wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Twist2dTest.java
View File

@@ -11,6 +11,7 @@ import org.junit.jupiter.api.Test;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertNotEquals;
class Twist2dTest {
private static final double kEpsilon = 1E-9;
@@ -50,4 +51,18 @@ class Twist2dTest {
() -> assertEquals(diagonalPose.getRotation().getDegrees(), 0.0, kEpsilon)
);
}
@Test
void testEquality() {
var one = new Twist2d(5, 1, 3);
var two = new Twist2d(5, 1, 3);
assertEquals(one, two);
}
@Test
void testInequality() {
var one = new Twist2d(5, 1, 3);
var two = new Twist2d(5, 1.2, 3);
assertNotEquals(one, two);
}
}