From 901ab693d48df573bd2b7d8abda9106bee73b53e Mon Sep 17 00:00:00 2001
From: Ryan Blue <ryanzblue@gmail.com>
Date: Fri, 9 Jun 2023 00:11:26 -0400
Subject: [PATCH] [wpimath] Use UtilityClassTest for more utility classes
 (#5384)

---
 wpimath/src/main/java/edu/wpi/first/math/DARE.java         | 4 +++-
 .../src/main/java/edu/wpi/first/math/StateSpaceUtil.java   | 2 +-
 .../java/edu/wpi/first/math/ComputerVisionUtilTest.java    | 7 ++++++-
 wpimath/src/test/java/edu/wpi/first/math/DARETest.java     | 7 ++++++-
 wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java | 7 ++++++-
 .../test/java/edu/wpi/first/math/StateSpaceUtilTest.java   | 7 ++++++-
 6 files changed, 28 insertions(+), 6 deletions(-)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/DARE.java b/wpimath/src/main/java/edu/wpi/first/math/DARE.java
index c9757b778a..76b604cff4 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/DARE.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/DARE.java
@@ -7,7 +7,9 @@ package edu.wpi.first.math;
 import org.ejml.simple.SimpleMatrix;
 
 public final class DARE {
-  private DARE() {}
+  private DARE() {
+    throw new UnsupportedOperationException("This is a utility class!");
+  }
 
   /**
    * Solves the discrete algebraic Riccati equation.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java b/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
index 62518b29f4..27ed9e0bb0 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
@@ -15,7 +15,7 @@ public final class StateSpaceUtil {
   private static Random rand = new Random();
 
   private StateSpaceUtil() {
-    // Utility class
+    throw new UnsupportedOperationException("This is a utility class!");
   }
 
   /**
diff --git a/wpimath/src/test/java/edu/wpi/first/math/ComputerVisionUtilTest.java b/wpimath/src/test/java/edu/wpi/first/math/ComputerVisionUtilTest.java
index 29278475d7..3c281e559a 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/ComputerVisionUtilTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/ComputerVisionUtilTest.java
@@ -11,9 +11,14 @@ import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.UtilityClassTest;
 import org.junit.jupiter.api.Test;
 
-class ComputerVisionUtilTest {
+class ComputerVisionUtilTest extends UtilityClassTest<ComputerVisionUtil> {
+  ComputerVisionUtilTest() {
+    super(ComputerVisionUtil.class);
+  }
+
   @Test
   void testObjectToRobotPose() {
     var robot = new Pose3d(1.0, 2.0, 0.0, new Rotation3d(0.0, 0.0, Units.degreesToRadians(30.0)));
diff --git a/wpimath/src/test/java/edu/wpi/first/math/DARETest.java b/wpimath/src/test/java/edu/wpi/first/math/DARETest.java
index 082ecf14e1..fae150b4ef 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/DARETest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/DARETest.java
@@ -6,10 +6,15 @@ package edu.wpi.first.math;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import edu.wpi.first.wpilibj.UtilityClassTest;
 import org.ejml.simple.SimpleMatrix;
 import org.junit.jupiter.api.Test;
 
-class DARETest {
+class DARETest extends UtilityClassTest<DARE> {
+  DARETest() {
+    super(DARE.class);
+  }
+
   public static void assertMatrixEqual(SimpleMatrix A, SimpleMatrix B) {
     for (int i = 0; i < A.numRows(); i++) {
       for (int j = 0; j < A.numCols(); j++) {
diff --git a/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java b/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
index a3de9ccd56..5e1a01e57e 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
@@ -6,9 +6,14 @@ package edu.wpi.first.math;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import edu.wpi.first.wpilibj.UtilityClassTest;
 import org.junit.jupiter.api.Test;
 
-class MathUtilTest {
+class MathUtilTest extends UtilityClassTest<MathUtil> {
+  MathUtilTest() {
+    super(MathUtil.class);
+  }
+
   @Test
   void testApplyDeadbandUnityScale() {
     // < 0
diff --git a/wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java b/wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java
index 054c29adb0..ee33f01526 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java
@@ -12,13 +12,18 @@ import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N2;
+import edu.wpi.first.wpilibj.UtilityClassTest;
 import java.util.ArrayList;
 import java.util.List;
 import org.ejml.dense.row.MatrixFeatures_DDRM;
 import org.ejml.simple.SimpleMatrix;
 import org.junit.jupiter.api.Test;
 
-class StateSpaceUtilTest {
+class StateSpaceUtilTest extends UtilityClassTest<StateSpaceUtil> {
+  StateSpaceUtilTest() {
+    super(StateSpaceUtil.class);
+  }
+
   @Test
   void testCostArray() {
     var mat = StateSpaceUtil.makeCostMatrix(VecBuilder.fill(1.0, 2.0, 3.0));