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[wpiunits] Add isNear function implementation (#6396)

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This implementation uses a tolerance in the same units as the measure it checks.
This commit is contained in:
vichik
2024-04-22 06:40:33 +03:00
committed by GitHub
parent abfe2488ff
commit e89c8c1008
2 changed files with 58 additions and 1 deletions
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19
wpiunits/src/main/java/edu/wpi/first/units/Measure.java
View File

@@ -265,6 +265,25 @@ public interface Measure<U extends Unit<U>> extends Comparable<Measure<U>> {
return Math.abs(this.baseUnitMagnitude() - other.baseUnitMagnitude()) <= tolerance;
}
/**
* Checks if this measure is near another measure of the same unit, with a specified tolerance of
* the same unit.
*
* <pre>
* Meters.of(1).isNear(Meters.of(1.2), Millimeters.of(300)) // true
* Degrees.of(90).isNear(Rotations.of(0.5), Degrees.of(45)) // false
* </pre>
*
* @param other the other measure to compare against.
* @param tolerance the tolerance allowed in which the two measures are defined as near each
* other.
* @return true if this unit is near the other measure, otherwise false.
*/
default boolean isNear(Measure<U> other, Measure<U> tolerance) {
return Math.abs(this.baseUnitMagnitude() - other.baseUnitMagnitude())
<= Math.abs(tolerance.baseUnitMagnitude());
}
/**
* Checks if this measure is equivalent to another measure of the same unit.
*

40
wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
View File

@@ -303,7 +303,7 @@ class MeasureTest {
}
@Test
void testIsNear() {
void testIsNearVarianceThreshold() {
var unit = new ExampleUnit(92);
var measureA = unit.of(1.21);
var measureB = unit.ofBaseUnits(64);
@@ -344,4 +344,42 @@ class MeasureTest {
assertTrue(Units.Feet.zero().isNear(Units.Millimeters.zero(), 0.001));
assertFalse(Units.Feet.of(2).isNear(Units.Millimeters.of(0), 0.001));
}
@Test
void testIsNearMeasureTolerance() {
var measureCompared = Units.Meters.of(1);
var measureComparing = Units.Meters.of(1.2);
// Positive value with positive tolerance
assertTrue(measureCompared.isNear(measureComparing, Units.Millimeters.of(300)));
assertFalse(measureCompared.isNear(measureComparing, Units.Centimeters.of(10)));
measureCompared = measureCompared.negate();
measureComparing = measureComparing.negate();
// Negative value with positive tolerance
assertTrue(measureCompared.isNear(measureComparing, Units.Millimeters.of(300)));
assertFalse(measureCompared.isNear(measureComparing, Units.Centimeters.of(10)));
measureCompared = measureCompared.negate();
measureComparing = measureComparing.negate();
// Positive value with negative tolerance
assertTrue(measureCompared.isNear(measureComparing, Units.Millimeters.of(-300)));
assertFalse(measureCompared.isNear(measureComparing, Units.Centimeters.of(-10)));
measureCompared = measureCompared.negate();
measureComparing = measureComparing.negate();
// Negative value with negative tolerance.
assertTrue(measureCompared.isNear(measureComparing, Units.Millimeters.of(-300)));
assertFalse(measureCompared.isNear(measureComparing, Units.Centimeters.of(-10)));
measureCompared = measureCompared.negate();
measureComparing = measureComparing.negate();
// Tolerance exact difference between measures.
assertTrue(measureCompared.isNear(measureComparing, Units.Millimeters.of(200)));
assertTrue(measureCompared.isNear(measureComparing, Units.Centimeters.of(-20)));
}
}