[wpimath] Rename FindNearestPoint() to Nearest() (#7513)

This is easier to type and follows the naming of Pose2d::Nearest().

Since Ellipse2d and Rectangle2d were added for the 2025 season, we don't
need to add deprecation notices.

wpimath/src/main/java/edu/wpi/first/math/geometry/Ellipse2d.java

@@ -199,7 +199,7 @@ public class Ellipse2d implements ProtobufSerializable, StructSerializable {
    * @return The distance (0, if the point is contained by the ellipse)
    */
   public double getDistance(Translation2d point) {
-    return findNearestPoint(point).getDistance(point);
+    return nearest(point).getDistance(point);
   }
 
   /**
@@ -218,7 +218,7 @@ public class Ellipse2d implements ProtobufSerializable, StructSerializable {
    * @param point The point that this will find the nearest point to.
    * @return A new point that is nearest to {@code point} and contained in the ellipse.
    */
-  public Translation2d findNearestPoint(Translation2d point) {
+  public Translation2d nearest(Translation2d point) {
     // Check if already in ellipse
     if (contains(point)) {
       return point;
@@ -226,7 +226,7 @@ public class Ellipse2d implements ProtobufSerializable, StructSerializable {
 
     // Find nearest point
     var nearestPoint = new double[2];
-    Ellipse2dJNI.findNearestPoint(
+    Ellipse2dJNI.nearest(
         m_center.getX(),
         m_center.getY(),
         m_center.getRotation().getRadians(),

wpimath/src/main/java/edu/wpi/first/math/geometry/Rectangle2d.java

@@ -186,7 +186,7 @@ public class Rectangle2d implements ProtobufSerializable, StructSerializable {
    * @return The distance (0, if the point is contained by the rectangle)
    */
   public double getDistance(Translation2d point) {
-    return findNearestPoint(point).getDistance(point);
+    return nearest(point).getDistance(point);
   }
 
   /**
@@ -205,7 +205,7 @@ public class Rectangle2d implements ProtobufSerializable, StructSerializable {
    * @param point The point that this will find the nearest point to.
    * @return A new point that is nearest to {@code point} and contained in the rectangle.
    */
-  public Translation2d findNearestPoint(Translation2d point) {
+  public Translation2d nearest(Translation2d point) {
     // Check if already in rectangle
     if (contains(point)) {
       return point;

wpimath/src/main/java/edu/wpi/first/math/jni/Ellipse2dJNI.java

@@ -9,7 +9,7 @@ public final class Ellipse2dJNI extends WPIMathJNI {
   /**
    * Returns the nearest point that is contained within the ellipse.
    *
-   * <p>Constructs an Ellipse2d object and runs its FindNearestPoint() method.
+   * <p>Constructs an Ellipse2d object and runs its nearest() method.
    *
    * @param centerX The x coordinate of the center of the ellipse in meters.
    * @param centerY The y coordinate of the center of the ellipse in meters.
@@ -20,7 +20,7 @@ public final class Ellipse2dJNI extends WPIMathJNI {
    * @param pointY The y coordinate of the point that this will find the nearest point to.
    * @param nearestPoint Array to store nearest point into.
    */
-  public static native void findNearestPoint(
+  public static native void nearest(
       double centerX,
       double centerY,
       double centerHeading,

wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp

@@ -8,7 +8,7 @@
 
 using namespace frc;
 
-Translation2d Ellipse2d::FindNearestPoint(const Translation2d& point) const {
+Translation2d Ellipse2d::Nearest(const Translation2d& point) const {
   // Check if already in ellipse
   if (Contains(point)) {
     return point;

wpimath/src/main/native/cpp/jni/Ellipse2dJNI.cpp

@@ -16,11 +16,11 @@ extern "C" {
 
 /*
  * Class:     edu_wpi_first_math_jni_Ellipse2dJNI
- * Method:    findNearestPoint
+ * Method:    nearest
  * Signature: (DDDDDDD[D)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_math_jni_Ellipse2dJNI_findNearestPoint
+Java_edu_wpi_first_math_jni_Ellipse2dJNI_nearest
   (JNIEnv* env, jclass, jdouble centerX, jdouble centerY, jdouble centerHeading,
    jdouble xSemiAxis, jdouble ySemiAxis, jdouble pointX, jdouble pointY,
    jdoubleArray nearestPoint)
@@ -30,7 +30,7 @@ Java_edu_wpi_first_math_jni_Ellipse2dJNI_findNearestPoint
           frc::Pose2d{units::meter_t{centerX}, units::meter_t{centerY},
                       units::radian_t{centerHeading}},
           units::meter_t{xSemiAxis}, units::meter_t{ySemiAxis}}
-          .FindNearestPoint({units::meter_t{pointX}, units::meter_t{pointY}});
+          .Nearest({units::meter_t{pointX}, units::meter_t{pointY}});
 
   wpi::array buf{point.X().value(), point.Y().value()};
   env->SetDoubleArrayRegion(nearestPoint, 0, 2, buf.data());

wpimath/src/main/native/include/frc/geometry/Ellipse2d.h

@@ -154,7 +154,7 @@ class WPILIB_DLLEXPORT Ellipse2d {
    * @return The distance (0, if the point is contained by the ellipse)
    */
   units::meter_t Distance(const Translation2d& point) const {
-    return FindNearestPoint(point).Distance(point);
+    return Nearest(point).Distance(point);
   }
 
   /**
@@ -164,7 +164,7 @@ class WPILIB_DLLEXPORT Ellipse2d {
    * @return A new point that is nearest to {@code point} and contained in the
    *   ellipse.
    */
-  Translation2d FindNearestPoint(const Translation2d& point) const;
+  Translation2d Nearest(const Translation2d& point) const;
 
   /**
    * Checks equality between this Ellipse2d and another object.

wpimath/src/main/native/include/frc/geometry/Rectangle2d.h

@@ -155,7 +155,7 @@ class WPILIB_DLLEXPORT Rectangle2d {
    * @return The distance (0, if the point is contained by the rectangle)
    */
   constexpr units::meter_t Distance(const Translation2d& point) const {
-    return FindNearestPoint(point).Distance(point);
+    return Nearest(point).Distance(point);
   }
 
   /**
@@ -165,7 +165,7 @@ class WPILIB_DLLEXPORT Rectangle2d {
    * @return A new point that is nearest to {@code point} and contained in the
    * rectangle.
    */
-  constexpr Translation2d FindNearestPoint(const Translation2d& point) const {
+  constexpr Translation2d Nearest(const Translation2d& point) const {
     // Check if already in rectangle
     if (Contains(point)) {
       return point;

wpimath/src/test/java/edu/wpi/first/math/geometry/Ellipse2dTest.java

@@ -30,7 +30,7 @@ class Ellipse2dTest {
   }
 
   @Test
-  void testIntersectsPoint() {
+  void testIntersects() {
     var center = new Pose2d(1.0, 2.0, new Rotation2d());
     var ellipse = new Ellipse2d(center, 2.0, 1.0);
 
@@ -43,7 +43,7 @@ class Ellipse2dTest {
   }
 
   @Test
-  void testContainsPoint() {
+  void testContains() {
     var center = new Pose2d(-1.0, -2.0, Rotation2d.fromDegrees(45.0));
     var ellipse = new Ellipse2d(center, 2.0, 1.0);
 
@@ -55,7 +55,7 @@ class Ellipse2dTest {
   }
 
   @Test
-  void testDistanceToPoint() {
+  void testDistance() {
     var center = new Pose2d(1.0, 2.0, Rotation2d.fromDegrees(270.0));
     var ellipse = new Ellipse2d(center, 1.0, 2.0);
 
@@ -73,30 +73,30 @@ class Ellipse2dTest {
   }
 
   @Test
-  void testFindNearestPoint() {
+  void testNearest() {
     var center = new Pose2d(1.0, 2.0, Rotation2d.fromDegrees(270.0));
     var ellipse = new Ellipse2d(center, 1.0, 2.0);
 
     var point1 = new Translation2d(2.5, 2.0);
-    var nearestPoint1 = ellipse.findNearestPoint(point1);
+    var nearestPoint1 = ellipse.nearest(point1);
     assertAll(
         () -> assertEquals(2.5, nearestPoint1.getX(), kEpsilon),
         () -> assertEquals(2.0, nearestPoint1.getY(), kEpsilon));
 
     var point2 = new Translation2d(1.0, 2.0);
-    var nearestPoint2 = ellipse.findNearestPoint(point2);
+    var nearestPoint2 = ellipse.nearest(point2);
     assertAll(
         () -> assertEquals(1.0, nearestPoint2.getX(), kEpsilon),
         () -> assertEquals(2.0, nearestPoint2.getY(), kEpsilon));
 
     var point3 = new Translation2d(1.0, 1.0);
-    var nearestPoint3 = ellipse.findNearestPoint(point3);
+    var nearestPoint3 = ellipse.nearest(point3);
     assertAll(
         () -> assertEquals(1.0, nearestPoint3.getX(), kEpsilon),
         () -> assertEquals(1.0, nearestPoint3.getY(), kEpsilon));
 
     var point4 = new Translation2d(-1.0, 2.5);
-    var nearestPoint4 = ellipse.findNearestPoint(point4);
+    var nearestPoint4 = ellipse.nearest(point4);
     assertAll(
         () -> assertEquals(-0.8512799937611617, nearestPoint4.getX(), kEpsilon),
         () -> assertEquals(2.378405333174535, nearestPoint4.getY(), kEpsilon));

wpimath/src/test/java/edu/wpi/first/math/geometry/Rectangle2dTest.java

@@ -30,7 +30,7 @@ class Rectangle2dTest {
   }
 
   @Test
-  void testIntersectsPoint() {
+  void testIntersects() {
     var center = new Pose2d(4.0, 3.0, Rotation2d.fromDegrees(90.0));
     var rect = new Rectangle2d(center, 2.0, 3.0);
 
@@ -42,7 +42,7 @@ class Rectangle2dTest {
   }
 
   @Test
-  void testContainsPoint() {
+  void testContains() {
     var center = new Pose2d(2.0, 3.0, Rotation2d.fromDegrees(45.0));
     var rect = new Rectangle2d(center, 3.0, 1.0);
 
@@ -53,7 +53,7 @@ class Rectangle2dTest {
   }
 
   @Test
-  void testDistanceToPoint() {
+  void testDistance() {
     var center = new Pose2d(1.0, 2.0, Rotation2d.fromDegrees(270.0));
     var rect = new Rectangle2d(center, 1.0, 2.0);
 
@@ -71,18 +71,18 @@ class Rectangle2dTest {
   }
 
   @Test
-  void testFindNearestPoint() {
+  void testNearest() {
     var center = new Pose2d(1.0, 1.0, Rotation2d.fromDegrees(90.0));
     var rect = new Rectangle2d(center, 3.0, 4.0);
 
     var point1 = new Translation2d(1.0, 3.0);
-    var nearestPoint1 = rect.findNearestPoint(point1);
+    var nearestPoint1 = rect.nearest(point1);
     assertAll(
         () -> assertEquals(1.0, nearestPoint1.getX(), kEpsilon),
         () -> assertEquals(2.5, nearestPoint1.getY(), kEpsilon));
 
     var point2 = new Translation2d(0.0, 0.0);
-    var nearestPoint2 = rect.findNearestPoint(point2);
+    var nearestPoint2 = rect.nearest(point2);
     assertAll(
         () -> assertEquals(0.0, nearestPoint2.getX(), kEpsilon),
         () -> assertEquals(0.0, nearestPoint2.getY(), kEpsilon));

wpimath/src/test/native/cpp/geometry/Ellipse2dTest.cpp

@@ -16,7 +16,7 @@ TEST(Ellipse2dTest, FocalPoints) {
   EXPECT_EQ(frc::Translation2d(4_m, 2_m), b);
 }
 
-TEST(Ellipse2dTest, IntersectsPoint) {
+TEST(Ellipse2dTest, Intersects) {
   constexpr frc::Pose2d center{1_m, 2_m, 0_deg};
   constexpr frc::Ellipse2d ellipse{center, 2_m, 1_m};
 
@@ -27,7 +27,7 @@ TEST(Ellipse2dTest, IntersectsPoint) {
   EXPECT_FALSE(ellipse.Intersects(pointB));
 }
 
-TEST(Ellipse2dTest, ContainsPoint) {
+TEST(Ellipse2dTest, Contains) {
   constexpr frc::Pose2d center{-1_m, -2_m, 45_deg};
   constexpr frc::Ellipse2d ellipse{center, 2_m, 1_m};
 
@@ -38,7 +38,7 @@ TEST(Ellipse2dTest, ContainsPoint) {
   EXPECT_FALSE(ellipse.Contains(pointB));
 }
 
-TEST(Ellipse2dTest, DistanceToPoint) {
+TEST(Ellipse2dTest, Distance) {
   constexpr double kEpsilon = 1E-9;
 
   constexpr frc::Pose2d center{1_m, 2_m, 270_deg};
@@ -57,29 +57,29 @@ TEST(Ellipse2dTest, DistanceToPoint) {
   EXPECT_NEAR(0.19210128384806818, ellipse.Distance(point4).value(), kEpsilon);
 }
 
-TEST(Ellipse2dTest, FindNearestPoint) {
+TEST(Ellipse2dTest, Nearest) {
   constexpr double kEpsilon = 1E-9;
 
   constexpr frc::Pose2d center{1_m, 2_m, 270_deg};
   constexpr frc::Ellipse2d ellipse{center, 1_m, 2_m};
 
   constexpr frc::Translation2d point1{2.5_m, 2_m};
-  auto nearestPoint1 = ellipse.FindNearestPoint(point1);
+  auto nearestPoint1 = ellipse.Nearest(point1);
   EXPECT_NEAR(2.5, nearestPoint1.X().value(), kEpsilon);
   EXPECT_NEAR(2.0, nearestPoint1.Y().value(), kEpsilon);
 
   constexpr frc::Translation2d point2{1_m, 2_m};
-  auto nearestPoint2 = ellipse.FindNearestPoint(point2);
+  auto nearestPoint2 = ellipse.Nearest(point2);
   EXPECT_NEAR(1.0, nearestPoint2.X().value(), kEpsilon);
   EXPECT_NEAR(2.0, nearestPoint2.Y().value(), kEpsilon);
 
   constexpr frc::Translation2d point3{1_m, 1_m};
-  auto nearestPoint3 = ellipse.FindNearestPoint(point3);
+  auto nearestPoint3 = ellipse.Nearest(point3);
   EXPECT_NEAR(1.0, nearestPoint3.X().value(), kEpsilon);
   EXPECT_NEAR(1.0, nearestPoint3.Y().value(), kEpsilon);
 
   constexpr frc::Translation2d point4{-1_m, 2.5_m};
-  auto nearestPoint4 = ellipse.FindNearestPoint(point4);
+  auto nearestPoint4 = ellipse.Nearest(point4);
   EXPECT_NEAR(-0.8512799937611617, nearestPoint4.X().value(), kEpsilon);
   EXPECT_NEAR(2.378405333174535, nearestPoint4.Y().value(), kEpsilon);
 }

wpimath/src/test/native/cpp/geometry/Rectangle2dTest.cpp

@@ -18,7 +18,7 @@ TEST(Rectangle2dTest, NewWithCorners) {
   EXPECT_EQ(4.0, rect.Center().Y().value());
 }
 
-TEST(Rectangle2dTest, IntersectsPoint) {
+TEST(Rectangle2dTest, Intersects) {
   constexpr frc::Pose2d center{4_m, 3_m, 90_deg};
   constexpr frc::Rectangle2d rect{center, 2_m, 3_m};
 
@@ -28,7 +28,7 @@ TEST(Rectangle2dTest, IntersectsPoint) {
   EXPECT_FALSE(rect.Intersects(frc::Translation2d{4_m, 3.5_m}));
 }
 
-TEST(Rectangle2dTest, ContainsPoint) {
+TEST(Rectangle2dTest, Contains) {
   constexpr frc::Pose2d center{2_m, 3_m, 45_deg};
   constexpr frc::Rectangle2d rect{center, 3_m, 1_m};
 
@@ -37,7 +37,7 @@ TEST(Rectangle2dTest, ContainsPoint) {
   EXPECT_FALSE(rect.Contains(frc::Translation2d{3_m, 3_m}));
 }
 
-TEST(Rectangle2dTest, DistanceToPoint) {
+TEST(Rectangle2dTest, Distance) {
   constexpr double kEpsilon = 1E-9;
 
   constexpr frc::Pose2d center{1_m, 2_m, 270_deg};
@@ -56,19 +56,19 @@ TEST(Rectangle2dTest, DistanceToPoint) {
   EXPECT_NEAR(1, rect.Distance(point4).value(), kEpsilon);
 }
 
-TEST(Rectangle2dTest, FindNearestPoint) {
+TEST(Rectangle2dTest, Nearest) {
   constexpr double kEpsilon = 1E-9;
 
   constexpr frc::Pose2d center{1_m, 1_m, 90_deg};
   constexpr frc::Rectangle2d rect{center, 3_m, 4_m};
 
   constexpr frc::Translation2d point1{1_m, 3_m};
-  auto nearestPoint1 = rect.FindNearestPoint(point1);
+  auto nearestPoint1 = rect.Nearest(point1);
   EXPECT_NEAR(1.0, nearestPoint1.X().value(), kEpsilon);
   EXPECT_NEAR(2.5, nearestPoint1.Y().value(), kEpsilon);
 
   constexpr frc::Translation2d point2{0_m, 0_m};
-  auto nearestPoint2 = rect.FindNearestPoint(point2);
+  auto nearestPoint2 = rect.Nearest(point2);
   EXPECT_NEAR(0.0, nearestPoint2.X().value(), kEpsilon);
   EXPECT_NEAR(0.0, nearestPoint2.Y().value(), kEpsilon);
 }