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[wpimath] Add affine transformation constructors and getters to geometry API (#7430)

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Fixes #7429.
This commit is contained in:
Tyler Veness
2024-12-07 15:49:17 -08:00
committed by GitHub
parent f772bb141d
commit e222efaa01
32 changed files with 615 additions and 27 deletions
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7
wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp
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@@ -112,6 +112,13 @@ TEST(Pose3dTest, Minus) {
EXPECT_NEAR(0.0, transform.Rotation().Z().value(), 1e-9);
}
TEST(Pose3dTest, ToMatrix) {
Pose3d before{1_m, 2_m, 3_m, Rotation3d{10_deg, 20_deg, 30_deg}};
Pose3d after{before.ToMatrix()};
EXPECT_EQ(before, after);
}
TEST(Pose3dTest, ToPose2d) {
Pose3d pose{1_m, 2_m, 3_m, Rotation3d{20_deg, 30_deg, 40_deg}};
Pose2d expected{1_m, 2_m, 40_deg};