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[wpimath] Add 3D geometry classes (#4175)

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Also clean up 2D geometry documentation.
This commit is contained in:
Tyler Veness
2022-05-06 08:41:23 -07:00
committed by GitHub
parent 708a4bc3bc
commit f20a20f3f1
48 changed files with 4299 additions and 255 deletions
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22
wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp
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@@ -12,8 +12,6 @@
using namespace frc;
static constexpr double kEpsilon = 1E-9;
TEST(Transform2dTest, Inverse) {
const Pose2d initial{1_m, 2_m, 45_deg};
const Transform2d transform{{5_m, 0_m}, 5_deg};
@@ -21,10 +19,10 @@ TEST(Transform2dTest, Inverse) {
auto transformed = initial + transform;
auto untransformed = transformed + transform.Inverse();
EXPECT_NEAR(initial.X().value(), untransformed.X().value(), kEpsilon);
EXPECT_NEAR(initial.Y().value(), untransformed.Y().value(), kEpsilon);
EXPECT_NEAR(initial.Rotation().Degrees().value(),
untransformed.Rotation().Degrees().value(), kEpsilon);
EXPECT_NEAR(initial.X().value(), untransformed.X().value(), 1e-9);
EXPECT_DOUBLE_EQ(initial.Y().value(), untransformed.Y().value());
EXPECT_DOUBLE_EQ(initial.Rotation().Degrees().value(),
untransformed.Rotation().Degrees().value());
}
TEST(Transform2dTest, Composition) {
@@ -35,10 +33,10 @@ TEST(Transform2dTest, Composition) {
auto transformedSeparate = initial + transform1 + transform2;
auto transformedCombined = initial + (transform1 + transform2);
EXPECT_NEAR(transformedSeparate.X().value(), transformedCombined.X().value(),
kEpsilon);
EXPECT_NEAR(transformedSeparate.Y().value(), transformedCombined.Y().value(),
kEpsilon);
EXPECT_NEAR(transformedSeparate.Rotation().Degrees().value(),
transformedCombined.Rotation().Degrees().value(), kEpsilon);
EXPECT_DOUBLE_EQ(transformedSeparate.X().value(),
transformedCombined.X().value());
EXPECT_DOUBLE_EQ(transformedSeparate.Y().value(),
transformedCombined.Y().value());
EXPECT_DOUBLE_EQ(transformedSeparate.Rotation().Degrees().value(),
transformedCombined.Rotation().Degrees().value());
}