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Merge branch 'main' into 2027

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This commit is contained in:
Thad House
2024-12-08 12:04:23 -08:00
parent f1e4eafaa0 d5edb4060d
commit b6ae9e9cc9
22 changed files with 1014 additions and 116 deletions
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16
wpimath/src/test/native/cpp/geometry/Ellipse2dTest.cpp
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@@ -16,7 +16,7 @@ TEST(Ellipse2dTest, FocalPoints) {
EXPECT_EQ(frc::Translation2d(4_m, 2_m), b);
}
TEST(Ellipse2dTest, IntersectsPoint) {
TEST(Ellipse2dTest, Intersects) {
constexpr frc::Pose2d center{1_m, 2_m, 0_deg};
constexpr frc::Ellipse2d ellipse{center, 2_m, 1_m};
@@ -27,7 +27,7 @@ TEST(Ellipse2dTest, IntersectsPoint) {
EXPECT_FALSE(ellipse.Intersects(pointB));
}
TEST(Ellipse2dTest, ContainsPoint) {
TEST(Ellipse2dTest, Contains) {
constexpr frc::Pose2d center{-1_m, -2_m, 45_deg};
constexpr frc::Ellipse2d ellipse{center, 2_m, 1_m};
@@ -38,7 +38,7 @@ TEST(Ellipse2dTest, ContainsPoint) {
EXPECT_FALSE(ellipse.Contains(pointB));
}
TEST(Ellipse2dTest, DistanceToPoint) {
TEST(Ellipse2dTest, Distance) {
constexpr double kEpsilon = 1E-9;
constexpr frc::Pose2d center{1_m, 2_m, 270_deg};
@@ -57,29 +57,29 @@ TEST(Ellipse2dTest, DistanceToPoint) {
EXPECT_NEAR(0.19210128384806818, ellipse.Distance(point4).value(), kEpsilon);
}
TEST(Ellipse2dTest, FindNearestPoint) {
TEST(Ellipse2dTest, Nearest) {
constexpr double kEpsilon = 1E-9;
constexpr frc::Pose2d center{1_m, 2_m, 270_deg};
constexpr frc::Ellipse2d ellipse{center, 1_m, 2_m};
constexpr frc::Translation2d point1{2.5_m, 2_m};
auto nearestPoint1 = ellipse.FindNearestPoint(point1);
auto nearestPoint1 = ellipse.Nearest(point1);
EXPECT_NEAR(2.5, nearestPoint1.X().value(), kEpsilon);
EXPECT_NEAR(2.0, nearestPoint1.Y().value(), kEpsilon);
constexpr frc::Translation2d point2{1_m, 2_m};
auto nearestPoint2 = ellipse.FindNearestPoint(point2);
auto nearestPoint2 = ellipse.Nearest(point2);
EXPECT_NEAR(1.0, nearestPoint2.X().value(), kEpsilon);
EXPECT_NEAR(2.0, nearestPoint2.Y().value(), kEpsilon);
constexpr frc::Translation2d point3{1_m, 1_m};
auto nearestPoint3 = ellipse.FindNearestPoint(point3);
auto nearestPoint3 = ellipse.Nearest(point3);
EXPECT_NEAR(1.0, nearestPoint3.X().value(), kEpsilon);
EXPECT_NEAR(1.0, nearestPoint3.Y().value(), kEpsilon);
constexpr frc::Translation2d point4{-1_m, 2.5_m};
auto nearestPoint4 = ellipse.FindNearestPoint(point4);
auto nearestPoint4 = ellipse.Nearest(point4);
EXPECT_NEAR(-0.8512799937611617, nearestPoint4.X().value(), kEpsilon);
EXPECT_NEAR(2.378405333174535, nearestPoint4.Y().value(), kEpsilon);
}

12
wpimath/src/test/native/cpp/geometry/Rectangle2dTest.cpp
View File

@@ -18,7 +18,7 @@ TEST(Rectangle2dTest, NewWithCorners) {
EXPECT_EQ(4.0, rect.Center().Y().value());
}
TEST(Rectangle2dTest, IntersectsPoint) {
TEST(Rectangle2dTest, Intersects) {
constexpr frc::Pose2d center{4_m, 3_m, 90_deg};
constexpr frc::Rectangle2d rect{center, 2_m, 3_m};
@@ -28,7 +28,7 @@ TEST(Rectangle2dTest, IntersectsPoint) {
EXPECT_FALSE(rect.Intersects(frc::Translation2d{4_m, 3.5_m}));
}
TEST(Rectangle2dTest, ContainsPoint) {
TEST(Rectangle2dTest, Contains) {
constexpr frc::Pose2d center{2_m, 3_m, 45_deg};
constexpr frc::Rectangle2d rect{center, 3_m, 1_m};
@@ -37,7 +37,7 @@ TEST(Rectangle2dTest, ContainsPoint) {
EXPECT_FALSE(rect.Contains(frc::Translation2d{3_m, 3_m}));
}
TEST(Rectangle2dTest, DistanceToPoint) {
TEST(Rectangle2dTest, Distance) {
constexpr double kEpsilon = 1E-9;
constexpr frc::Pose2d center{1_m, 2_m, 270_deg};
@@ -56,19 +56,19 @@ TEST(Rectangle2dTest, DistanceToPoint) {
EXPECT_NEAR(1, rect.Distance(point4).value(), kEpsilon);
}
TEST(Rectangle2dTest, FindNearestPoint) {
TEST(Rectangle2dTest, Nearest) {
constexpr double kEpsilon = 1E-9;
constexpr frc::Pose2d center{1_m, 1_m, 90_deg};
constexpr frc::Rectangle2d rect{center, 3_m, 4_m};
constexpr frc::Translation2d point1{1_m, 3_m};
auto nearestPoint1 = rect.FindNearestPoint(point1);
auto nearestPoint1 = rect.Nearest(point1);
EXPECT_NEAR(1.0, nearestPoint1.X().value(), kEpsilon);
EXPECT_NEAR(2.5, nearestPoint1.Y().value(), kEpsilon);
constexpr frc::Translation2d point2{0_m, 0_m};
auto nearestPoint2 = rect.FindNearestPoint(point2);
auto nearestPoint2 = rect.Nearest(point2);
EXPECT_NEAR(0.0, nearestPoint2.X().value(), kEpsilon);
EXPECT_NEAR(0.0, nearestPoint2.Y().value(), kEpsilon);
}