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[wpimath] Use UtilityClassTest for more utility classes (#5384)

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This commit is contained in:
Ryan Blue
2023-06-09 00:11:26 -04:00
committed by GitHub
parent 9d53231b01
commit 901ab693d4
6 changed files with 28 additions and 6 deletions
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7
wpimath/src/test/java/edu/wpi/first/math/ComputerVisionUtilTest.java
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@@ -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)));

7
wpimath/src/test/java/edu/wpi/first/math/DARETest.java
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@@ -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++) {

7
wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
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@@ -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

7
wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java
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@@ -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));