Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

148
wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
View File

@@ -4,13 +4,14 @@
#include "frc/geometry/CoordinateSystem.h"
#include "frc/geometry/Pose3d.h"
#include "frc/geometry/Transform3d.h"
#include "gtest/gtest.h"
using namespace frc;
void CheckConvert(const Pose3d& poseFrom, const Pose3d& poseTo,
const CoordinateSystem& coordFrom,
const CoordinateSystem& coordTo) {
void CheckPose3dConvert(const Pose3d& poseFrom, const Pose3d& poseTo,
const CoordinateSystem& coordFrom,
const CoordinateSystem& coordTo) {
// "from" to "to"
EXPECT_EQ(
poseTo.Translation(),
@@ -28,46 +29,135 @@ void CheckConvert(const Pose3d& poseFrom, const Pose3d& poseTo,
EXPECT_EQ(poseFrom, CoordinateSystem::Convert(poseTo, coordTo, coordFrom));
}
TEST(CoordinateSystemTest, EDNtoNWU) {
void CheckTransform3dConvert(const Transform3d& transformFrom,
const Transform3d& transformTo,
const CoordinateSystem& coordFrom,
const CoordinateSystem& coordTo) {
// "from" to "to"
EXPECT_EQ(transformTo.Translation(),
CoordinateSystem::Convert(transformFrom.Translation(), coordFrom,
coordTo));
EXPECT_EQ(
transformTo.Rotation(),
CoordinateSystem::Convert(transformFrom.Rotation(), coordFrom, coordTo));
EXPECT_EQ(transformTo,
CoordinateSystem::Convert(transformFrom, coordFrom, coordTo));
// "to" to "from"
EXPECT_EQ(
transformFrom.Translation(),
CoordinateSystem::Convert(transformTo.Translation(), coordTo, coordFrom));
EXPECT_EQ(
transformFrom.Rotation(),
CoordinateSystem::Convert(transformTo.Rotation(), coordTo, coordFrom));
EXPECT_EQ(transformFrom,
CoordinateSystem::Convert(transformTo, coordTo, coordFrom));
}
TEST(CoordinateSystemTest, Pose3dEDNtoNWU) {
// No rotation from EDN to NWU
CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{}},
Pose3d{3_m, -1_m, -2_m, Rotation3d{-90_deg, 0_deg, -90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NWU());
CheckPose3dConvert(
Pose3d{1_m, 2_m, 3_m, Rotation3d{}},
Pose3d{3_m, -1_m, -2_m, Rotation3d{-90_deg, 0_deg, -90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NWU());
// 45° roll from EDN to NWU
CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{45_deg, 0_deg, 0_deg}},
Pose3d{3_m, -1_m, -2_m, Rotation3d{-45_deg, 0_deg, -90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NWU());
CheckPose3dConvert(
Pose3d{1_m, 2_m, 3_m, Rotation3d{45_deg, 0_deg, 0_deg}},
Pose3d{3_m, -1_m, -2_m, Rotation3d{-45_deg, 0_deg, -90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NWU());
// 45° pitch from EDN to NWU
CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 45_deg, 0_deg}},
Pose3d{3_m, -1_m, -2_m, Rotation3d{-90_deg, 0_deg, -135_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NWU());
CheckPose3dConvert(
Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 45_deg, 0_deg}},
Pose3d{3_m, -1_m, -2_m, Rotation3d{-90_deg, 0_deg, -135_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NWU());
// 45° yaw from EDN to NWU
CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 0_deg, 45_deg}},
Pose3d{3_m, -1_m, -2_m, Rotation3d{-90_deg, 45_deg, -90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NWU());
CheckPose3dConvert(
Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 0_deg, 45_deg}},
Pose3d{3_m, -1_m, -2_m, Rotation3d{-90_deg, 45_deg, -90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NWU());
}
TEST(CoordinateSystemTest, EDNtoNED) {
TEST(CoordinateSystemTest, Pose3dEDNtoNED) {
// No rotation from EDN to NED
CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{}},
Pose3d{3_m, 1_m, 2_m, Rotation3d{90_deg, 0_deg, 90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NED());
CheckPose3dConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{}},
Pose3d{3_m, 1_m, 2_m, Rotation3d{90_deg, 0_deg, 90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NED());
// 45° roll from EDN to NED
CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{45_deg, 0_deg, 0_deg}},
Pose3d{3_m, 1_m, 2_m, Rotation3d{135_deg, 0_deg, 90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NED());
CheckPose3dConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{45_deg, 0_deg, 0_deg}},
Pose3d{3_m, 1_m, 2_m, Rotation3d{135_deg, 0_deg, 90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NED());
// 45° pitch from EDN to NED
CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 45_deg, 0_deg}},
Pose3d{3_m, 1_m, 2_m, Rotation3d{90_deg, 0_deg, 135_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NED());
CheckPose3dConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 45_deg, 0_deg}},
Pose3d{3_m, 1_m, 2_m, Rotation3d{90_deg, 0_deg, 135_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NED());
// 45° yaw from EDN to NED
CheckConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 0_deg, 45_deg}},
Pose3d{3_m, 1_m, 2_m, Rotation3d{90_deg, -45_deg, 90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NED());
CheckPose3dConvert(Pose3d{1_m, 2_m, 3_m, Rotation3d{0_deg, 0_deg, 45_deg}},
Pose3d{3_m, 1_m, 2_m, Rotation3d{90_deg, -45_deg, 90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NED());
}
TEST(CoordinateSystemTest, Transform3dEDNtoNWU) {
// No rotation from EDN to NWU
CheckTransform3dConvert(
Transform3d{Translation3d{1_m, 2_m, 3_m}, Rotation3d{}},
Transform3d{Translation3d{3_m, -1_m, -2_m},
Rotation3d{-90_deg, 0_deg, -90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NWU());
// 45° roll from EDN to NWU
CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
Rotation3d{45_deg, 0_deg, 0_deg}},
Transform3d{Translation3d{3_m, -1_m, -2_m},
Rotation3d{-45_deg, 0_deg, -90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NWU());
// 45° pitch from EDN to NWU
CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
Rotation3d{0_deg, 45_deg, 0_deg}},
Transform3d{Translation3d{3_m, -1_m, -2_m},
Rotation3d{-90_deg, 0_deg, -135_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NWU());
// 45° yaw from EDN to NWU
CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
Rotation3d{0_deg, 0_deg, 45_deg}},
Transform3d{Translation3d{3_m, -1_m, -2_m},
Rotation3d{-90_deg, 45_deg, -90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NWU());
}
TEST(CoordinateSystemTest, Transform3dEDNtoNED) {
// No rotation from EDN to NED
CheckTransform3dConvert(
Transform3d{Translation3d{1_m, 2_m, 3_m}, Rotation3d{}},
Transform3d{Translation3d{3_m, 1_m, 2_m},
Rotation3d{90_deg, 0_deg, 90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NED());
// 45° roll from EDN to NED
CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
Rotation3d{45_deg, 0_deg, 0_deg}},
Transform3d{Translation3d{3_m, 1_m, 2_m},
Rotation3d{135_deg, 0_deg, 90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NED());
// 45° pitch from EDN to NED
CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
Rotation3d{0_deg, 45_deg, 0_deg}},
Transform3d{Translation3d{3_m, 1_m, 2_m},
Rotation3d{90_deg, 0_deg, 135_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NED());
// 45° yaw from EDN to NED
CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
Rotation3d{0_deg, 0_deg, 45_deg}},
Transform3d{Translation3d{3_m, 1_m, 2_m},
Rotation3d{90_deg, -45_deg, 90_deg}},
CoordinateSystem::EDN(), CoordinateSystem::NED());
}