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[wpiunits] Fix incorrect magnitudes in some MutableMeasure mutations (#8620)

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This PR fixes the magnitude units in `MutableMeasure#mut_acc` and
`MutableMeasure#mut_plus`.

Previously, both `mut_acc` and `mut_plus` were setting the base
magnitude using the unit-ed magnitude value. While this would work fine
for base units where `magnitude == baseUnitMagnitude`, this was creating
issues with derived units.

This PR also adds missing tests for the `MutableMeasure` class.
This commit is contained in:
Jordan Powers
2026-02-20 15:29:53 -08:00
committed by GitHub
parent 77dfad97c6
commit 9cd933fa14
2 changed files with 170 additions and 2 deletions
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4
wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
View File

@@ -73,7 +73,7 @@ public interface MutableMeasure<
* @return the measure
*/
default MutSelf mut_acc(double raw) {
return mut_setBaseUnitMagnitude(magnitude() + raw);
return mut_setMagnitude(magnitude() + raw);
}
/**
@@ -107,7 +107,7 @@ public interface MutableMeasure<
* @return this measure
*/
default MutSelf mut_plus(double magnitude, U otherUnit) {
return mut_setBaseUnitMagnitude(magnitude() + otherUnit.toBaseUnits(magnitude));
return mut_setBaseUnitMagnitude(baseUnitMagnitude() + otherUnit.toBaseUnits(magnitude));
}
/**

168
wpiunits/src/test/java/edu/wpi/first/units/MutableMeasureTest.java Normal file
View File

@@ -0,0 +1,168 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.units;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertSame;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.MutDistance;
import org.junit.jupiter.api.Test;
class MutableMeasureTest {
@Test
void testBasics() {
DistanceUnit unit = Units.Feet;
double magnitude = 10;
MutDistance m = unit.mutable(magnitude);
assertEquals(unit, m.unit(), "Wrong units");
assertEquals(magnitude, m.magnitude(), 0, "Wrong magnitude");
}
@Test
void testMultiply() {
MutDistance m = Units.Feet.mutable(1);
MutDistance m2 = m.mut_times(Units.Value.of(10));
assertEquals(10, m.in(Units.Feet), 1e-12);
assertSame(m, m2);
}
@Test
void testMultiplyScalar() {
MutDistance m = Units.Feet.mutable(1);
MutDistance m2 = m.mut_times(10);
assertEquals(10, m.in(Units.Feet), 1e-12);
assertSame(m, m2);
}
@Test
void testDivide() {
MutDistance m = Units.Meters.mutable(1);
MutDistance m2 = m.mut_divide(Units.Value.of(10));
assertEquals(0.1, m.magnitude(), 0);
assertSame(m, m2);
}
@Test
void testDivideScalar() {
MutDistance m = Units.Meters.mutable(1);
MutDistance m2 = m.mut_divide(10);
assertEquals(0.1, m.magnitude(), 0);
assertSame(m, m2);
}
@Test
void testAdd() {
MutDistance m1 = Units.Feet.mutable(1);
MutDistance m2 = Units.Inches.mutable(2);
Distance sum1 = m1.mut_plus(Units.Inches.of(2));
assertTrue(sum1.isEquivalent(Units.Feet.of(1 + 2 / 12d)));
assertSame(m1, sum1);
Distance sum2 = m2.mut_plus(Units.Feet.of(1));
assertTrue(sum2.isEquivalent(Units.Inches.of(14)));
assertSame(m2, sum2);
}
@Test
void testAddScalar() {
MutDistance m1 = Units.Feet.mutable(1);
MutDistance m2 = Units.Inches.mutable(2);
Distance sum1 = m1.mut_plus(2, Units.Inches);
assertTrue(sum1.isEquivalent(Units.Feet.of(1 + 2 / 12d)));
assertSame(m1, sum1);
Distance sum2 = m2.mut_plus(1, Units.Feet);
assertTrue(sum2.isEquivalent(Units.Inches.of(14)));
assertSame(m2, sum2);
}
@Test
void testAcc() {
MutDistance m1 = Units.Feet.mutable(1);
MutDistance m2 = Units.Inches.mutable(2);
Distance acc1 = m1.mut_acc(Units.Inches.of(2));
assertTrue(acc1.isEquivalent(Units.Feet.of(1 + 2 / 12d)));
assertSame(m1, acc1);
Distance acc2 = m2.mut_acc(Units.Feet.of(1));
assertTrue(acc2.isEquivalent(Units.Inches.of(14)));
assertSame(m2, acc2);
}
@Test
void testAccScalar() {
MutDistance m1 = Units.Feet.mutable(1);
MutDistance m2 = Units.Inches.mutable(2);
Distance acc1 = m1.mut_acc(2 / 12d);
assertTrue(acc1.isEquivalent(Units.Feet.of(1 + 2 / 12d)));
assertSame(m1, acc1);
Distance acc2 = m2.mut_acc(12);
assertTrue(acc2.isEquivalent(Units.Inches.of(14)));
assertSame(m2, acc2);
}
@Test
void testSubtract() {
MutDistance m1 = Units.Feet.mutable(1);
MutDistance m2 = Units.Inches.mutable(2);
Distance sub1 = m1.mut_minus(Units.Inches.of(2));
assertTrue(sub1.isEquivalent(Units.Feet.of(1 - 2 / 12d)));
assertSame(m1, sub1);
Distance sub2 = m2.mut_minus(Units.Feet.of(1));
assertTrue(sub2.isEquivalent(Units.Inches.of(-10)));
assertSame(m2, sub2);
}
@Test
void testSubtractScalar() {
MutDistance m1 = Units.Feet.mutable(1);
MutDistance m2 = Units.Inches.mutable(2);
Distance sub1 = m1.mut_minus(2, Units.Inches);
assertTrue(sub1.isEquivalent(Units.Feet.of(1 - 2 / 12d)));
assertSame(m1, sub1);
Distance sub2 = m2.mut_minus(1, Units.Feet);
assertTrue(sub2.isEquivalent(Units.Inches.of(-10)));
assertSame(m2, sub2);
}
@Test
void testReplace() {
MutDistance m1 = Units.Feet.mutable(1);
MutDistance m2 = Units.Inches.mutable(2);
Distance replace1 = m1.mut_replace(Units.Inches.of(2));
assertTrue(replace1.isEquivalent(Units.Inches.of(2)));
assertSame(m1, replace1);
Distance replace2 = m2.mut_replace(Units.Feet.of(1));
assertTrue(replace2.isEquivalent(Units.Feet.of(1)));
assertSame(m2, replace2);
}
@Test
void testReplaceScalar() {
MutDistance m1 = Units.Feet.mutable(1);
MutDistance m2 = Units.Inches.mutable(2);
Distance replace1 = m1.mut_replace(2, Units.Inches);
assertTrue(replace1.isEquivalent(Units.Inches.of(2)));
assertSame(m1, replace1);
Distance replace2 = m2.mut_replace(1, Units.Feet);
assertTrue(replace2.isEquivalent(Units.Feet.of(1)));
assertSame(m2, replace2);
}
}