[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/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);
 }