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[wpimath] Add Pose2d and Pose3d rotateAround() (#7659)

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2025-01-13 13:55:26 -06:00
committed by GitHub
parent fc9e413ce1
commit cd92b07321
8 changed files with 98 additions and 0 deletions
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11
wpimath/src/test/native/cpp/geometry/Pose2dTest.cpp
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@@ -51,6 +51,17 @@ TEST(Pose2dTest, RelativeTo) {
EXPECT_NEAR(0.0, finalRelativeToInitial.Rotation().Degrees().value(), 1e-9);
}
TEST(Pose2dTest, RotateAround) {
const Pose2d initial{5_m, 0_m, 0_deg};
const Translation2d point{0_m, 0_m};
const auto rotated = initial.RotateAround(point, Rotation2d{180_deg});
EXPECT_NEAR(-5.0, rotated.X().value(), 1e-9);
EXPECT_NEAR(0.0, rotated.Y().value(), 1e-9);
EXPECT_NEAR(180.0, rotated.Rotation().Degrees().value(), 1e-9);
}
TEST(Pose2dTest, Equality) {
const Pose2d a{0_m, 5_m, 43_deg};
const Pose2d b{0_m, 5_m, 43_deg};

13
wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp
View File

@@ -83,6 +83,19 @@ TEST(Pose3dTest, RelativeTo) {
EXPECT_NEAR(0.0, finalRelativeToInitial.Rotation().Z().value(), 1e-9);
}
TEST(Pose3dTest, RotateAround) {
const Pose3d initial{5_m, 0_m, 0_m, Rotation3d{}};
const Translation3d point{0_m, 0_m, 0_m};
const auto rotated =
initial.RotateAround(point, Rotation3d{0_deg, 0_deg, 180_deg});
EXPECT_NEAR(-5.0, rotated.X().value(), 1e-9);
EXPECT_NEAR(0.0, rotated.Y().value(), 1e-9);
EXPECT_NEAR(units::radian_t{180_deg}.value(), rotated.Rotation().Z().value(),
1e-9);
}
TEST(Pose3dTest, Equality) {
Eigen::Vector3d zAxis{0.0, 0.0, 1.0};