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[wpimath] Rename variables in Twist tests (#8420)

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Exp() now returns a transform instead of a pose.
This commit is contained in:
Tyler Veness
2025-11-29 10:26:32 -08:00
committed by GitHub
parent a4aad63dd4
commit c8e6ce1ca4
4 changed files with 38 additions and 40 deletions
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12
wpimath/src/test/java/org/wpilib/math/geometry/Twist2dTest.java
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@@ -13,28 +13,28 @@ class Twist2dTest {
@Test
void testStraight() {
var straight = new Twist2d(5.0, 0.0, 0.0);
var straightPose = straight.exp();
var straightTransform = straight.exp();
var expected = new Transform2d(5.0, 0.0, Rotation2d.kZero);
assertEquals(expected, straightPose);
assertEquals(expected, straightTransform);
}
@Test
void testQuarterCircle() {
var quarterCircle = new Twist2d(5.0 / 2.0 * Math.PI, 0, Math.PI / 2.0);
var quarterCirclePose = quarterCircle.exp();
var quarterCircleTransform = quarterCircle.exp();
var expected = new Transform2d(5.0, 5.0, Rotation2d.kCCW_Pi_2);
assertEquals(expected, quarterCirclePose);
assertEquals(expected, quarterCircleTransform);
}
@Test
void testDiagonalNoDtheta() {
var diagonal = new Twist2d(2.0, 2.0, 0.0);
var diagonalPose = diagonal.exp();
var diagonalTransform = diagonal.exp();
var expected = new Transform2d(2.0, 2.0, Rotation2d.kZero);
assertEquals(expected, diagonalPose);
assertEquals(expected, diagonalTransform);
}
@Test

20
wpimath/src/test/java/org/wpilib/math/geometry/Twist3dTest.java
View File

@@ -15,28 +15,28 @@ class Twist3dTest {
@Test
void testStraightX() {
var straight = new Twist3d(5.0, 0.0, 0.0, 0.0, 0.0, 0.0);
var straightPose = straight.exp();
var straightTransform = straight.exp();
var expected = new Transform3d(5.0, 0.0, 0.0, Rotation3d.kZero);
assertEquals(expected, straightPose);
assertEquals(expected, straightTransform);
}
@Test
void testStraightY() {
var straight = new Twist3d(0.0, 5.0, 0.0, 0.0, 0.0, 0.0);
var straightPose = straight.exp();
var straightTransform = straight.exp();
var expected = new Transform3d(0.0, 5.0, 0.0, Rotation3d.kZero);
assertEquals(expected, straightPose);
assertEquals(expected, straightTransform);
}
@Test
void testStraightZ() {
var straight = new Twist3d(0.0, 0.0, 5.0, 0.0, 0.0, 0.0);
var straightPose = straight.exp();
var straightTransform = straight.exp();
var expected = new Transform3d(0.0, 0.0, 5.0, Rotation3d.kZero);
assertEquals(expected, straightPose);
assertEquals(expected, straightTransform);
}
@Test
@@ -44,20 +44,20 @@ class Twist3dTest {
var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var quarterCircle = new Twist3d(5.0 / 2.0 * Math.PI, 0.0, 0.0, 0.0, 0.0, Math.PI / 2.0);
var quarterCirclePose = quarterCircle.exp();
var quarterCircleTransform = quarterCircle.exp();
var expected =
new Transform3d(5.0, 5.0, 0.0, new Rotation3d(zAxis, Units.degreesToRadians(90.0)));
assertEquals(expected, quarterCirclePose);
assertEquals(expected, quarterCircleTransform);
}
@Test
void testDiagonalNoDtheta() {
var diagonal = new Twist3d(2.0, 2.0, 0.0, 0.0, 0.0, 0.0);
var diagonalPose = diagonal.exp();
var diagonalTransform = diagonal.exp();
var expected = new Transform3d(2.0, 2.0, 0.0, Rotation3d.kZero);
assertEquals(expected, diagonalPose);
assertEquals(expected, diagonalTransform);
}
@Test

25
wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp
View File

@@ -2,7 +2,6 @@
// 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 <cmath>
#include <numbers>
#include <gtest/gtest.h>
@@ -13,30 +12,30 @@ using namespace wpi::math;
TEST(Twist2dTest, Straight) {
const Twist2d straight{5_m, 0_m, 0_rad};
const auto straightPose = straight.Exp();
const auto straightTransform = straight.Exp();
EXPECT_DOUBLE_EQ(5.0, straightPose.X().value());
EXPECT_DOUBLE_EQ(0.0, straightPose.Y().value());
EXPECT_DOUBLE_EQ(0.0, straightPose.Rotation().Radians().value());
EXPECT_DOUBLE_EQ(5.0, straightTransform.X().value());
EXPECT_DOUBLE_EQ(0.0, straightTransform.Y().value());
EXPECT_DOUBLE_EQ(0.0, straightTransform.Rotation().Radians().value());
}
TEST(Twist2dTest, QuarterCircle) {
const Twist2d quarterCircle{5_m / 2.0 * std::numbers::pi, 0_m,
wpi::units::radian_t{std::numbers::pi / 2.0}};
const auto quarterCirclePose = quarterCircle.Exp();
const auto quarterCircleTransform = quarterCircle.Exp();
EXPECT_DOUBLE_EQ(5.0, quarterCirclePose.X().value());
EXPECT_DOUBLE_EQ(5.0, quarterCirclePose.Y().value());
EXPECT_DOUBLE_EQ(90.0, quarterCirclePose.Rotation().Degrees().value());
EXPECT_DOUBLE_EQ(5.0, quarterCircleTransform.X().value());
EXPECT_DOUBLE_EQ(5.0, quarterCircleTransform.Y().value());
EXPECT_DOUBLE_EQ(90.0, quarterCircleTransform.Rotation().Degrees().value());
}
TEST(Twist2dTest, DiagonalNoDtheta) {
const Twist2d diagonal{2_m, 2_m, 0_deg};
const auto diagonalPose = diagonal.Exp();
const auto diagonalTransform = diagonal.Exp();
EXPECT_DOUBLE_EQ(2.0, diagonalPose.X().value());
EXPECT_DOUBLE_EQ(2.0, diagonalPose.Y().value());
EXPECT_DOUBLE_EQ(0.0, diagonalPose.Rotation().Degrees().value());
EXPECT_DOUBLE_EQ(2.0, diagonalTransform.X().value());
EXPECT_DOUBLE_EQ(2.0, diagonalTransform.Y().value());
EXPECT_DOUBLE_EQ(0.0, diagonalTransform.Rotation().Degrees().value());
}
TEST(Twist2dTest, Equality) {

21
wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp
View File

@@ -2,7 +2,6 @@
// 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 <cmath>
#include <numbers>
#include <gtest/gtest.h>
@@ -13,26 +12,26 @@ using namespace wpi::math;
TEST(Twist3dTest, StraightX) {
const Twist3d straight{5_m, 0_m, 0_m, 0_rad, 0_rad, 0_rad};
const auto straightPose = straight.Exp();
const auto straightTransform = straight.Exp();
Transform3d expected{5_m, 0_m, 0_m, Rotation3d{}};
EXPECT_EQ(expected, straightPose);
EXPECT_EQ(expected, straightTransform);
}
TEST(Twist3dTest, StraightY) {
const Twist3d straight{0_m, 5_m, 0_m, 0_rad, 0_rad, 0_rad};
const auto straightPose = straight.Exp();
const auto straightTransform = straight.Exp();
Transform3d expected{0_m, 5_m, 0_m, Rotation3d{}};
EXPECT_EQ(expected, straightPose);
EXPECT_EQ(expected, straightTransform);
}
TEST(Twist3dTest, StraightZ) {
const Twist3d straight{0_m, 0_m, 5_m, 0_rad, 0_rad, 0_rad};
const auto straightPose = straight.Exp();
const auto straightTransform = straight.Exp();
Transform3d expected{0_m, 0_m, 5_m, Rotation3d{}};
EXPECT_EQ(expected, straightPose);
EXPECT_EQ(expected, straightTransform);
}
TEST(Twist3dTest, QuarterCircle) {
@@ -44,18 +43,18 @@ TEST(Twist3dTest, QuarterCircle) {
0_rad,
0_rad,
wpi::units::radian_t{std::numbers::pi / 2.0}};
const auto quarterCirclePose = quarterCircle.Exp();
const auto quarterCircleTransform = quarterCircle.Exp();
Transform3d expected{5_m, 5_m, 0_m, Rotation3d{zAxis, 90_deg}};
EXPECT_EQ(expected, quarterCirclePose);
EXPECT_EQ(expected, quarterCircleTransform);
}
TEST(Twist3dTest, DiagonalNoDtheta) {
const Twist3d diagonal{2_m, 2_m, 0_m, 0_rad, 0_rad, 0_rad};
const auto diagonalPose = diagonal.Exp();
const auto diagonalTransform = diagonal.Exp();
Transform3d expected{2_m, 2_m, 0_m, Rotation3d{}};
EXPECT_EQ(expected, diagonalPose);
EXPECT_EQ(expected, diagonalTransform);
}
TEST(Twist3dTest, Equality) {