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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