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[wpimath] Add CoordinateSystem conversion for Transform3d (#4443)

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I also refactored Pose3d's conversion implementation to use the
Translation3d and Rotation3d conversions, thereby giving Translation3d
and Rotation3d test coverage. No changes were made to the expected
values of the Pose3d conversion tests.

The expected values of the Transform3d conversion tests were copied from
the Pose3d conversion tests without modification.
This commit is contained in:
Tyler Veness
2022-10-01 21:09:04 -07:00
committed by GitHub
parent 38bb23eb18
commit b53b3526a2
5 changed files with 287 additions and 43 deletions
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142
wpimath/src/test/java/edu/wpi/first/math/geometry/CoordinateSystemTest.java
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@@ -10,7 +10,7 @@ import edu.wpi.first.math.util.Units;
import org.junit.jupiter.api.Test;
class CoordinateSystemTest {
private void checkConvert(
private void checkPose3dConvert(
Pose3d poseFrom, Pose3d poseTo, CoordinateSystem coordFrom, CoordinateSystem coordTo) {
// "from" to "to"
assertEquals(
@@ -29,10 +29,34 @@ class CoordinateSystemTest {
assertEquals(poseFrom, CoordinateSystem.convert(poseTo, coordTo, coordFrom));
}
private void checkTransform3dConvert(
Transform3d transformFrom,
Transform3d transformTo,
CoordinateSystem coordFrom,
CoordinateSystem coordTo) {
// "from" to "to"
assertEquals(
transformTo.getTranslation(),
CoordinateSystem.convert(transformFrom.getTranslation(), coordFrom, coordTo));
assertEquals(
transformTo.getRotation(),
CoordinateSystem.convert(transformFrom.getRotation(), coordFrom, coordTo));
assertEquals(transformTo, CoordinateSystem.convert(transformFrom, coordFrom, coordTo));
// "to" to "from"
assertEquals(
transformFrom.getTranslation(),
CoordinateSystem.convert(transformTo.getTranslation(), coordTo, coordFrom));
assertEquals(
transformFrom.getRotation(),
CoordinateSystem.convert(transformTo.getRotation(), coordTo, coordFrom));
assertEquals(transformFrom, CoordinateSystem.convert(transformTo, coordTo, coordFrom));
}
@Test
void testEDNtoNWU() {
void testPose3dEDNtoNWU() {
// No rotation from EDN to NWU
checkConvert(
checkPose3dConvert(
new Pose3d(1.0, 2.0, 3.0, new Rotation3d()),
new Pose3d(
3.0,
@@ -43,7 +67,7 @@ class CoordinateSystemTest {
CoordinateSystem.NWU());
// 45° roll from EDN to NWU
checkConvert(
checkPose3dConvert(
new Pose3d(1.0, 2.0, 3.0, new Rotation3d(Units.degreesToRadians(45.0), 0.0, 0.0)),
new Pose3d(
3.0,
@@ -54,7 +78,7 @@ class CoordinateSystemTest {
CoordinateSystem.NWU());
// 45° pitch from EDN to NWU
checkConvert(
checkPose3dConvert(
new Pose3d(1.0, 2.0, 3.0, new Rotation3d(0.0, Units.degreesToRadians(45.0), 0.0)),
new Pose3d(
3.0,
@@ -65,7 +89,7 @@ class CoordinateSystemTest {
CoordinateSystem.NWU());
// 45° yaw from EDN to NWU
checkConvert(
checkPose3dConvert(
new Pose3d(1.0, 2.0, 3.0, new Rotation3d(0.0, 0.0, Units.degreesToRadians(45.0))),
new Pose3d(
3.0,
@@ -80,9 +104,9 @@ class CoordinateSystemTest {
}
@Test
void testEDNtoNED() {
void testPose3dEDNtoNED() {
// No rotation from EDN to NED
checkConvert(
checkPose3dConvert(
new Pose3d(1.0, 2.0, 3.0, new Rotation3d()),
new Pose3d(
3.0,
@@ -93,7 +117,7 @@ class CoordinateSystemTest {
CoordinateSystem.NED());
// 45° roll from EDN to NED
checkConvert(
checkPose3dConvert(
new Pose3d(1.0, 2.0, 3.0, new Rotation3d(Units.degreesToRadians(45.0), 0.0, 0.0)),
new Pose3d(
3.0,
@@ -104,7 +128,7 @@ class CoordinateSystemTest {
CoordinateSystem.NED());
// 45° pitch from EDN to NED
checkConvert(
checkPose3dConvert(
new Pose3d(1.0, 2.0, 3.0, new Rotation3d(0.0, Units.degreesToRadians(45.0), 0.0)),
new Pose3d(
3.0,
@@ -115,7 +139,7 @@ class CoordinateSystemTest {
CoordinateSystem.NED());
// 45° yaw from EDN to NED
checkConvert(
checkPose3dConvert(
new Pose3d(1.0, 2.0, 3.0, new Rotation3d(0.0, 0.0, Units.degreesToRadians(45.0))),
new Pose3d(
3.0,
@@ -128,4 +152,100 @@ class CoordinateSystemTest {
CoordinateSystem.EDN(),
CoordinateSystem.NED());
}
@Test
void testTransform3dEDNtoNWU() {
// No rotation from EDN to NWU
checkTransform3dConvert(
new Transform3d(new Translation3d(1.0, 2.0, 3.0), new Rotation3d()),
new Transform3d(
new Translation3d(3.0, -1.0, -2.0),
new Rotation3d(Units.degreesToRadians(-90.0), 0.0, Units.degreesToRadians(-90.0))),
CoordinateSystem.EDN(),
CoordinateSystem.NWU());
// 45° roll from EDN to NWU
checkTransform3dConvert(
new Transform3d(
new Translation3d(1.0, 2.0, 3.0),
new Rotation3d(Units.degreesToRadians(45.0), 0.0, 0.0)),
new Transform3d(
new Translation3d(3.0, -1.0, -2.0),
new Rotation3d(Units.degreesToRadians(-45.0), 0.0, Units.degreesToRadians(-90.0))),
CoordinateSystem.EDN(),
CoordinateSystem.NWU());
// 45° pitch from EDN to NWU
checkTransform3dConvert(
new Transform3d(
new Translation3d(1.0, 2.0, 3.0),
new Rotation3d(0.0, Units.degreesToRadians(45.0), 0.0)),
new Transform3d(
new Translation3d(3.0, -1.0, -2.0),
new Rotation3d(Units.degreesToRadians(-90.0), 0.0, Units.degreesToRadians(-135.0))),
CoordinateSystem.EDN(),
CoordinateSystem.NWU());
// 45° yaw from EDN to NWU
checkTransform3dConvert(
new Transform3d(
new Translation3d(1.0, 2.0, 3.0),
new Rotation3d(0.0, 0.0, Units.degreesToRadians(45.0))),
new Transform3d(
new Translation3d(3.0, -1.0, -2.0),
new Rotation3d(
Units.degreesToRadians(-90.0),
Units.degreesToRadians(45.0),
Units.degreesToRadians(-90.0))),
CoordinateSystem.EDN(),
CoordinateSystem.NWU());
}
@Test
void testTransform3dEDNtoNED() {
// No rotation from EDN to NED
checkTransform3dConvert(
new Transform3d(new Translation3d(1.0, 2.0, 3.0), new Rotation3d()),
new Transform3d(
new Translation3d(3.0, 1.0, 2.0),
new Rotation3d(Units.degreesToRadians(90.0), 0.0, Units.degreesToRadians(90.0))),
CoordinateSystem.EDN(),
CoordinateSystem.NED());
// 45° roll from EDN to NED
checkTransform3dConvert(
new Transform3d(
new Translation3d(1.0, 2.0, 3.0),
new Rotation3d(Units.degreesToRadians(45.0), 0.0, 0.0)),
new Transform3d(
new Translation3d(3.0, 1.0, 2.0),
new Rotation3d(Units.degreesToRadians(135.0), 0.0, Units.degreesToRadians(90.0))),
CoordinateSystem.EDN(),
CoordinateSystem.NED());
// 45° pitch from EDN to NED
checkTransform3dConvert(
new Transform3d(
new Translation3d(1.0, 2.0, 3.0),
new Rotation3d(0.0, Units.degreesToRadians(45.0), 0.0)),
new Transform3d(
new Translation3d(3.0, 1.0, 2.0),
new Rotation3d(Units.degreesToRadians(90.0), 0.0, Units.degreesToRadians(135.0))),
CoordinateSystem.EDN(),
CoordinateSystem.NED());
// 45° yaw from EDN to NED
checkTransform3dConvert(
new Transform3d(
new Translation3d(1.0, 2.0, 3.0),
new Rotation3d(0.0, 0.0, Units.degreesToRadians(45.0))),
new Transform3d(
new Translation3d(3.0, 1.0, 2.0),
new Rotation3d(
Units.degreesToRadians(90.0),
Units.degreesToRadians(-45.0),
Units.degreesToRadians(90.0))),
CoordinateSystem.EDN(),
CoordinateSystem.NED());
}
}