From ca35bcd827e6e34c432bea39cd772ac7088b41f5 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Fri, 19 Jan 2024 20:35:13 -0800 Subject: [PATCH] [wpimath] Use tolerance in rotation interpolation tests (#6237) --- .../test/java/edu/wpi/first/math/geometry/Rotation2dTest.java | 2 +- .../test/java/edu/wpi/first/math/geometry/Rotation3dTest.java | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java index 7f3e469fad..8a5dee60ea 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java @@ -112,6 +112,6 @@ class Rotation2dTest { rot1 = Rotation2d.fromDegrees(170); rot2 = Rotation2d.fromDegrees(-160); interpolated = rot1.interpolate(rot2, 0.5); - assertEquals(-175.0, interpolated.getDegrees()); + assertEquals(-175.0, interpolated.getDegrees(), kEpsilon); } } diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation3dTest.java index 008a65fabf..896afbfa4f 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation3dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation3dTest.java @@ -362,9 +362,9 @@ class Rotation3dTest { rot1 = new Rotation3d(xAxis, Units.degreesToRadians(170)); rot2 = new Rotation3d(xAxis, Units.degreesToRadians(-160)); interpolated = rot1.interpolate(rot2, 0.5); - assertEquals(Units.degreesToRadians(-175.0), interpolated.getX()); + assertEquals(Units.degreesToRadians(-175.0), interpolated.getX(), kEpsilon); assertEquals(Units.degreesToRadians(0.0), interpolated.getY(), kEpsilon); - assertEquals(Units.degreesToRadians(0.0), interpolated.getZ()); + assertEquals(Units.degreesToRadians(0.0), interpolated.getZ(), kEpsilon); // 50 + (70 - 50) * 0.5 = 60 rot1 = new Rotation3d(yAxis, Units.degreesToRadians(50));