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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2025-08-03 11:51:25 -07:00
parent 23f5725853 2d11946d98
commit ed7982563b
50 changed files with 1390 additions and 44 deletions
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23
wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp
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@@ -68,12 +68,23 @@ TEST(Translation2dTest, Norm) {
EXPECT_DOUBLE_EQ(std::hypot(3.0, 5.0), one.Norm().value());
}
TEST(Translation2dTest, SquaredNorm) {
const Translation2d one{3_m, 5_m};
EXPECT_DOUBLE_EQ(34.0, one.SquaredNorm().value());
}
TEST(Translation2dTest, Distance) {
const Translation2d one{1_m, 1_m};
const Translation2d two{6_m, 6_m};
EXPECT_DOUBLE_EQ(5.0 * std::sqrt(2.0), one.Distance(two).value());
}
TEST(Translation2dTest, SquaredDistance) {
const Translation2d one{1_m, 1_m};
const Translation2d two{6_m, 6_m};
EXPECT_DOUBLE_EQ(50.0, one.SquaredDistance(two).value());
}
TEST(Translation2dTest, UnaryMinus) {
const Translation2d original{-4.5_m, 7_m};
const auto inverted = -original;
@@ -162,3 +173,15 @@ TEST(Translation2dTest, Constexpr) {
static_assert(multiplied.X() == 2_m);
static_assert(divided.Y() == 1_m);
}
TEST(Translation2dTest, Dot) {
const Translation2d one{2_m, 3_m};
const Translation2d two{3_m, 4_m};
EXPECT_DOUBLE_EQ(18.0, one.Dot(two).value());
}
TEST(Translation2dTest, Cross) {
const Translation2d one{2_m, 3_m};
const Translation2d two{3_m, 4_m};
EXPECT_DOUBLE_EQ(-1.0, one.Cross(two).value());
}

27
wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp
View File

@@ -114,12 +114,23 @@ TEST(Translation3dTest, Norm) {
EXPECT_NEAR(one.Norm().value(), std::hypot(3, 5, 7), kEpsilon);
}
TEST(Translation3dTest, SquaredNorm) {
const Translation3d one{3_m, 5_m, 7_m};
EXPECT_NEAR(one.SquaredNorm().value(), 83.0, kEpsilon);
}
TEST(Translation3dTest, Distance) {
const Translation3d one{1_m, 1_m, 1_m};
const Translation3d two{6_m, 6_m, 6_m};
EXPECT_NEAR(one.Distance(two).value(), 5 * std::sqrt(3), kEpsilon);
}
TEST(Translation3dTest, SquaredDistance) {
const Translation3d one{1_m, 1_m, 1_m};
const Translation3d two{6_m, 6_m, 6_m};
EXPECT_NEAR(one.SquaredDistance(two).value(), 75.0, kEpsilon);
}
TEST(Translation3dTest, UnaryMinus) {
const Translation3d original{-4.5_m, 7_m, 9_m};
const auto inverted = -original;
@@ -214,3 +225,19 @@ TEST(Translation3dTest, Nearest) {
EXPECT_DOUBLE_EQ(nearest3.Y().value(), translation2.Y().value());
EXPECT_DOUBLE_EQ(nearest3.Z().value(), translation2.Z().value());
}
TEST(Translation3dTest, Dot) {
const Translation3d one{1_m, 2_m, 3_m};
const Translation3d two{4_m, 5_m, 6_m};
EXPECT_NEAR(one.Dot(two).value(), 32.0, kEpsilon);
}
TEST(Translation3dTest, Cross) {
const Translation3d one{1_m, 2_m, 3_m};
const Translation3d two{4_m, 5_m, 6_m};
auto cross = one.Cross(two);
EXPECT_NEAR(cross[0].value(), -3.0, kEpsilon);
EXPECT_NEAR(cross[1].value(), 6.0, kEpsilon);
EXPECT_NEAR(cross[2].value(), -3.0, kEpsilon);
}