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[wpimath] Add CoordinateSystem class (#4214)

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This commit is contained in:
Tyler Veness
2022-05-07 10:25:19 -07:00
committed by GitHub
parent 99424ad562
commit b33715db15
8 changed files with 683 additions and 0 deletions
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77
wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp Normal file
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// 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.
#include "frc/geometry/CoordinateSystem.h"
#include "frc/geometry/Pose3d.h"
#include "gtest/gtest.h"
using namespace frc;
TEST(CoordinateSystemTest, EDNtoNWU) {
Pose3d edn1{1_m, 2_m, 3_m, Rotation3d{}};
Pose3d nwu1{3_m, -1_m, -2_m, Rotation3d{-90_deg, 0_deg, -90_deg}};
EXPECT_EQ(nwu1, CoordinateSystem::Convert(edn1, CoordinateSystem::EDN(),
CoordinateSystem::NWU()));
EXPECT_EQ(edn1, CoordinateSystem::Convert(nwu1, CoordinateSystem::NWU(),
CoordinateSystem::EDN()));
Pose3d edn2{1_m, 2_m, 3_m, Rotation3d{45_deg, 0_deg, 0_deg}};
Pose3d nwu2{3_m, -1_m, -2_m, Rotation3d{-45_deg, 0_deg, -90_deg}};
EXPECT_EQ(nwu2, CoordinateSystem::Convert(edn2, CoordinateSystem::EDN(),
CoordinateSystem::NWU()));
EXPECT_EQ(edn2, CoordinateSystem::Convert(nwu2, CoordinateSystem::NWU(),
CoordinateSystem::EDN()));
Pose3d edn3{1_m, 2_m, 3_m, Rotation3d{0_deg, 45_deg, 0_deg}};
Pose3d nwu3{3_m, -1_m, -2_m, Rotation3d{-90_deg, 0_deg, -135_deg}};
EXPECT_EQ(nwu3, CoordinateSystem::Convert(edn3, CoordinateSystem::EDN(),
CoordinateSystem::NWU()));
EXPECT_EQ(edn3, CoordinateSystem::Convert(nwu3, CoordinateSystem::NWU(),
CoordinateSystem::EDN()));
Pose3d edn4{1_m, 2_m, 3_m, Rotation3d{0_deg, 0_deg, 45_deg}};
Pose3d nwu4{3_m, -1_m, -2_m, Rotation3d{-90_deg, 45_deg, -90_deg}};
EXPECT_EQ(nwu4, CoordinateSystem::Convert(edn4, CoordinateSystem::EDN(),
CoordinateSystem::NWU()));
EXPECT_EQ(edn4, CoordinateSystem::Convert(nwu4, CoordinateSystem::NWU(),
CoordinateSystem::EDN()));
}
TEST(CoordinateSystemTest, EDNtoNED) {
Pose3d edn1{1_m, 2_m, 3_m, Rotation3d{}};
Pose3d ned1{3_m, 1_m, 2_m, Rotation3d{90_deg, 0_deg, 90_deg}};
EXPECT_EQ(ned1, CoordinateSystem::Convert(edn1, CoordinateSystem::EDN(),
CoordinateSystem::NED()));
EXPECT_EQ(edn1, CoordinateSystem::Convert(ned1, CoordinateSystem::NED(),
CoordinateSystem::EDN()));
Pose3d edn2{1_m, 2_m, 3_m, Rotation3d{45_deg, 0_deg, 0_deg}};
Pose3d ned2{3_m, 1_m, 2_m, Rotation3d{135_deg, 0_deg, 90_deg}};
EXPECT_EQ(ned2, CoordinateSystem::Convert(edn2, CoordinateSystem::EDN(),
CoordinateSystem::NED()));
EXPECT_EQ(edn2, CoordinateSystem::Convert(ned2, CoordinateSystem::NED(),
CoordinateSystem::EDN()));
Pose3d edn3{1_m, 2_m, 3_m, Rotation3d{0_deg, 45_deg, 0_deg}};
Pose3d ned3{3_m, 1_m, 2_m, Rotation3d{90_deg, 0_deg, 135_deg}};
EXPECT_EQ(ned3, CoordinateSystem::Convert(edn3, CoordinateSystem::EDN(),
CoordinateSystem::NED()));
EXPECT_EQ(edn3, CoordinateSystem::Convert(ned3, CoordinateSystem::NED(),
CoordinateSystem::EDN()));
Pose3d edn4{1_m, 2_m, 3_m, Rotation3d{0_deg, 0_deg, 45_deg}};
Pose3d ned4{3_m, 1_m, 2_m, Rotation3d{90_deg, -45_deg, 90_deg}};
EXPECT_EQ(ned4, CoordinateSystem::Convert(edn4, CoordinateSystem::EDN(),
CoordinateSystem::NED()));
EXPECT_EQ(edn4, CoordinateSystem::Convert(ned4, CoordinateSystem::NED(),
CoordinateSystem::EDN()));
}