From c8e6ce1ca428ebbb9e52b87fa2a98f9ea3723f58 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Sat, 29 Nov 2025 10:26:32 -0800 Subject: [PATCH] [wpimath] Rename variables in Twist tests (#8420) Exp() now returns a transform instead of a pose. --- .../org/wpilib/math/geometry/Twist2dTest.java | 12 ++++----- .../org/wpilib/math/geometry/Twist3dTest.java | 20 +++++++-------- .../test/native/cpp/geometry/Twist2dTest.cpp | 25 +++++++++---------- .../test/native/cpp/geometry/Twist3dTest.cpp | 21 ++++++++-------- 4 files changed, 38 insertions(+), 40 deletions(-) diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/Twist2dTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/Twist2dTest.java index 83444646cb..7335dcfb1a 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/Twist2dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/Twist2dTest.java @@ -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 diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/Twist3dTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/Twist3dTest.java index e271b65cb7..bb0904a234 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/Twist3dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/Twist3dTest.java @@ -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 diff --git a/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp index 80bc855b95..2105346197 100644 --- a/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp +++ b/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp @@ -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 #include #include @@ -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) { diff --git a/wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp index 3f00eceb3d..f515667a0c 100644 --- a/wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp +++ b/wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp @@ -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 #include #include @@ -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) {