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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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60
wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp
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@@ -9,69 +9,67 @@
using namespace frc;
static constexpr double kEpsilon = 1E-9;
TEST(Translation2dTest, Sum) {
const Translation2d one{1.0_m, 3.0_m};
const Translation2d two{2.0_m, 5.0_m};
const Translation2d one{1_m, 3_m};
const Translation2d two{2_m, 5_m};
const auto sum = one + two;
EXPECT_NEAR(sum.X().value(), 3.0, kEpsilon);
EXPECT_NEAR(sum.Y().value(), 8.0, kEpsilon);
EXPECT_DOUBLE_EQ(3.0, sum.X().value());
EXPECT_DOUBLE_EQ(8.0, sum.Y().value());
}
TEST(Translation2dTest, Difference) {
const Translation2d one{1.0_m, 3.0_m};
const Translation2d two{2.0_m, 5.0_m};
const Translation2d one{1_m, 3_m};
const Translation2d two{2_m, 5_m};
const auto difference = one - two;
EXPECT_NEAR(difference.X().value(), -1.0, kEpsilon);
EXPECT_NEAR(difference.Y().value(), -2.0, kEpsilon);
EXPECT_DOUBLE_EQ(-1.0, difference.X().value());
EXPECT_DOUBLE_EQ(-2.0, difference.Y().value());
}
TEST(Translation2dTest, RotateBy) {
const Translation2d another{3.0_m, 0.0_m};
const auto rotated = another.RotateBy(Rotation2d(90.0_deg));
const Translation2d another{3_m, 0_m};
const auto rotated = another.RotateBy(Rotation2d(90_deg));
EXPECT_NEAR(rotated.X().value(), 0.0, kEpsilon);
EXPECT_NEAR(rotated.Y().value(), 3.0, kEpsilon);
EXPECT_NEAR(0.0, rotated.X().value(), 1e-9);
EXPECT_DOUBLE_EQ(3.0, rotated.Y().value());
}
TEST(Translation2dTest, Multiplication) {
const Translation2d original{3.0_m, 5.0_m};
const Translation2d original{3_m, 5_m};
const auto mult = original * 3;
EXPECT_NEAR(mult.X().value(), 9.0, kEpsilon);
EXPECT_NEAR(mult.Y().value(), 15.0, kEpsilon);
EXPECT_DOUBLE_EQ(9.0, mult.X().value());
EXPECT_DOUBLE_EQ(15.0, mult.Y().value());
}
TEST(Translation2dTest, Division) {
const Translation2d original{3.0_m, 5.0_m};
const Translation2d original{3_m, 5_m};
const auto div = original / 2;
EXPECT_NEAR(div.X().value(), 1.5, kEpsilon);
EXPECT_NEAR(div.Y().value(), 2.5, kEpsilon);
EXPECT_DOUBLE_EQ(1.5, div.X().value());
EXPECT_DOUBLE_EQ(2.5, div.Y().value());
}
TEST(Translation2dTest, Norm) {
const Translation2d one{3.0_m, 5.0_m};
EXPECT_NEAR(one.Norm().value(), std::hypot(3, 5), kEpsilon);
const Translation2d one{3_m, 5_m};
EXPECT_DOUBLE_EQ(std::hypot(3.0, 5.0), one.Norm().value());
}
TEST(Translation2dTest, Distance) {
const Translation2d one{1_m, 1_m};
const Translation2d two{6_m, 6_m};
EXPECT_NEAR(one.Distance(two).value(), 5 * std::sqrt(2), kEpsilon);
EXPECT_DOUBLE_EQ(5.0 * std::sqrt(2.0), one.Distance(two).value());
}
TEST(Translation2dTest, UnaryMinus) {
const Translation2d original{-4.5_m, 7_m};
const auto inverted = -original;
EXPECT_NEAR(inverted.X().value(), 4.5, kEpsilon);
EXPECT_NEAR(inverted.Y().value(), -7, kEpsilon);
EXPECT_DOUBLE_EQ(4.5, inverted.X().value());
EXPECT_DOUBLE_EQ(-7.0, inverted.Y().value());
}
TEST(Translation2dTest, Equality) {
@@ -87,11 +85,11 @@ TEST(Translation2dTest, Inequality) {
}
TEST(Translation2dTest, PolarConstructor) {
Translation2d one{std::sqrt(2) * 1_m, Rotation2d(45_deg)};
EXPECT_NEAR(one.X().value(), 1.0, kEpsilon);
EXPECT_NEAR(one.Y().value(), 1.0, kEpsilon);
Translation2d one{std::sqrt(2) * 1_m, Rotation2d{45_deg}};
EXPECT_DOUBLE_EQ(1.0, one.X().value());
EXPECT_DOUBLE_EQ(1.0, one.Y().value());
Translation2d two{2_m, Rotation2d(60_deg)};
EXPECT_NEAR(two.X().value(), 1.0, kEpsilon);
EXPECT_NEAR(two.Y().value(), std::sqrt(3.0), kEpsilon);
Translation2d two{2_m, Rotation2d{60_deg}};
EXPECT_DOUBLE_EQ(1.0, two.X().value());
EXPECT_DOUBLE_EQ(std::sqrt(3.0), two.Y().value());
}