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[wpimath] Use tolerance in rotation interpolation tests (#6237)

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This commit is contained in:
Tyler Veness
2024-01-19 20:35:13 -08:00
committed by GitHub
parent 9227d09960
commit ca35bcd827
2 changed files with 3 additions and 3 deletions
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2
wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java
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@@ -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);
}
}

4
wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation3dTest.java
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@@ -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));