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wpilibc: Add unit-safety to C++ geometry classes (#1811)

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This commit is contained in:
Prateek Machiraju
2019-08-17 01:00:33 -04:00
committed by Peter Johnson
parent c07ac23532
commit 8f386f6bb3
12 changed files with 108 additions and 117 deletions
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52
wpilibc/src/test/native/cpp/geometry/Translation2dTest.cpp
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@@ -15,64 +15,64 @@ using namespace frc;
static constexpr double kEpsilon = 1E-9;
TEST(Translation2dTest, Sum) {
const Translation2d one{1.0, 3.0};
const Translation2d two{2.0, 5.0};
const Translation2d one{1.0_m, 3.0_m};
const Translation2d two{2.0_m, 5.0_m};
const auto sum = one + two;
EXPECT_NEAR(sum.X(), 3.0, kEpsilon);
EXPECT_NEAR(sum.Y(), 8.0, kEpsilon);
EXPECT_NEAR(sum.X().to<double>(), 3.0, kEpsilon);
EXPECT_NEAR(sum.Y().to<double>(), 8.0, kEpsilon);
}
TEST(Translation2dTest, Difference) {
const Translation2d one{1.0, 3.0};
const Translation2d two{2.0, 5.0};
const Translation2d one{1.0_m, 3.0_m};
const Translation2d two{2.0_m, 5.0_m};
const auto difference = one - two;
EXPECT_NEAR(difference.X(), -1.0, kEpsilon);
EXPECT_NEAR(difference.Y(), -2.0, kEpsilon);
EXPECT_NEAR(difference.X().to<double>(), -1.0, kEpsilon);
EXPECT_NEAR(difference.Y().to<double>(), -2.0, kEpsilon);
}
TEST(Translation2dTest, RotateBy) {
const Translation2d another{3.0, 0.0};
const auto rotated = another.RotateBy(Rotation2d::FromDegrees(90.0));
const Translation2d another{3.0_m, 0.0_m};
const auto rotated = another.RotateBy(Rotation2d(90.0_deg));
EXPECT_NEAR(rotated.X(), 0.0, kEpsilon);
EXPECT_NEAR(rotated.Y(), 3.0, kEpsilon);
EXPECT_NEAR(rotated.X().to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(rotated.Y().to<double>(), 3.0, kEpsilon);
}
TEST(Translation2dTest, Multiplication) {
const Translation2d original{3.0, 5.0};
const Translation2d original{3.0_m, 5.0_m};
const auto mult = original * 3;
EXPECT_NEAR(mult.X(), 9.0, kEpsilon);
EXPECT_NEAR(mult.Y(), 15.0, kEpsilon);
EXPECT_NEAR(mult.X().to<double>(), 9.0, kEpsilon);
EXPECT_NEAR(mult.Y().to<double>(), 15.0, kEpsilon);
}
TEST(Translation2d, Division) {
const Translation2d original{3.0, 5.0};
const Translation2d original{3.0_m, 5.0_m};
const auto div = original / 2;
EXPECT_NEAR(div.X(), 1.5, kEpsilon);
EXPECT_NEAR(div.Y(), 2.5, kEpsilon);
EXPECT_NEAR(div.X().to<double>(), 1.5, kEpsilon);
EXPECT_NEAR(div.Y().to<double>(), 2.5, kEpsilon);
}
TEST(Translation2dTest, Norm) {
const Translation2d one{3.0, 5.0};
EXPECT_NEAR(one.Norm(), std::hypot(3, 5), kEpsilon);
const Translation2d one{3.0_m, 5.0_m};
EXPECT_NEAR(one.Norm().to<double>(), std::hypot(3, 5), kEpsilon);
}
TEST(Translation2dTest, Distance) {
const Translation2d one{1, 1};
const Translation2d two{6, 6};
EXPECT_NEAR(one.Distance(two), 5 * std::sqrt(2), kEpsilon);
const Translation2d one{1_m, 1_m};
const Translation2d two{6_m, 6_m};
EXPECT_NEAR(one.Distance(two).to<double>(), 5 * std::sqrt(2), kEpsilon);
}
TEST(Translation2dTest, UnaryMinus) {
const Translation2d original{-4.5, 7};
const Translation2d original{-4.5_m, 7_m};
const auto inverted = -original;
EXPECT_NEAR(inverted.X(), 4.5, kEpsilon);
EXPECT_NEAR(inverted.Y(), -7, kEpsilon);
EXPECT_NEAR(inverted.X().to<double>(), 4.5, kEpsilon);
EXPECT_NEAR(inverted.Y().to<double>(), -7, kEpsilon);
}