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[wpimath] Move Java classes to edu.wpi.first.math (#3316)

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This commit is contained in:
Noam Zaks
2021-05-01 15:53:30 +00:00
committed by GitHub
parent 6b50323b07
commit c8ff626fe2
212 changed files with 918 additions and 921 deletions
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52
wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// 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.
package edu.wpi.first.math;
import static org.junit.jupiter.api.Assertions.assertEquals;
import org.junit.jupiter.api.Test;
class MathUtilTest {
@Test
void testInputModulus() {
// These tests check error wrapping. That is, the result of wrapping the
// result of an angle reference minus the measurement.
// Test symmetric range
assertEquals(-20.0, MathUtil.inputModulus(170.0 - (-170.0), -180.0, 180.0));
assertEquals(-20.0, MathUtil.inputModulus(170.0 + 360.0 - (-170.0), -180.0, 180.0));
assertEquals(-20.0, MathUtil.inputModulus(170.0 - (-170.0 + 360.0), -180.0, 180.0));
assertEquals(20.0, MathUtil.inputModulus(-170.0 - 170.0, -180.0, 180.0));
assertEquals(20.0, MathUtil.inputModulus(-170.0 + 360.0 - 170.0, -180.0, 180.0));
assertEquals(20.0, MathUtil.inputModulus(-170.0 - (170.0 + 360.0), -180.0, 180.0));
// Test range start at zero
assertEquals(340.0, MathUtil.inputModulus(170.0 - 190.0, 0.0, 360.0));
assertEquals(340.0, MathUtil.inputModulus(170.0 + 360.0 - 190.0, 0.0, 360.0));
assertEquals(340.0, MathUtil.inputModulus(170.0 - (190.0 + 360), 0.0, 360.0));
// Test asymmetric range that doesn't start at zero
assertEquals(-20.0, MathUtil.inputModulus(170.0 - (-170.0), -170.0, 190.0));
// Test range with both positive endpoints
assertEquals(2.0, MathUtil.inputModulus(0.0, 1.0, 3.0));
assertEquals(3.0, MathUtil.inputModulus(1.0, 1.0, 3.0));
assertEquals(2.0, MathUtil.inputModulus(2.0, 1.0, 3.0));
assertEquals(3.0, MathUtil.inputModulus(3.0, 1.0, 3.0));
assertEquals(2.0, MathUtil.inputModulus(4.0, 1.0, 3.0));
}
@Test
void testAngleModulus() {
assertEquals(MathUtil.angleModulus(Math.toRadians(-2000)), Math.toRadians(160), 1e-6);
assertEquals(MathUtil.angleModulus(Math.toRadians(358)), Math.toRadians(-2), 1e-6);
assertEquals(MathUtil.angleModulus(Math.toRadians(360)), 0, 1e-6);
assertEquals(MathUtil.angleModulus(5 * Math.PI), Math.PI);
assertEquals(MathUtil.angleModulus(-5 * Math.PI), Math.PI);
assertEquals(MathUtil.angleModulus(Math.PI / 2), Math.PI / 2);
assertEquals(MathUtil.angleModulus(-Math.PI / 2), -Math.PI / 2);
}
}