Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Add isNear method to MathUtil (#5353)

Browse Source 
This method is used to check if the given value matches an expected value within a certain tolerance.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
This commit is contained in:
Gold856
2023-06-20 02:00:07 -04:00
committed by GitHub
parent 2ce248f66c
commit f5b0d1484b
4 changed files with 189 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

48
wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
View File

@@ -5,6 +5,8 @@
package edu.wpi.first.math;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.UtilityClassTest;
import org.junit.jupiter.api.Test;
@@ -93,4 +95,50 @@ class MathUtilTest extends UtilityClassTest<MathUtil> {
assertEquals(MathUtil.angleModulus(Math.PI / 2), Math.PI / 2);
assertEquals(MathUtil.angleModulus(-Math.PI / 2), -Math.PI / 2);
}
@Test
void testIsNear() {
// The answer is always 42
// Positive integer checks
assertTrue(MathUtil.isNear(42, 42, 1));
assertTrue(MathUtil.isNear(42, 41, 2));
assertTrue(MathUtil.isNear(42, 43, 2));
assertFalse(MathUtil.isNear(42, 44, 1));
// Negative integer checks
assertTrue(MathUtil.isNear(-42, -42, 1));
assertTrue(MathUtil.isNear(-42, -41, 2));
assertTrue(MathUtil.isNear(-42, -43, 2));
assertFalse(MathUtil.isNear(-42, -44, 1));
// Mixed sign integer checks
assertFalse(MathUtil.isNear(-42, 42, 1));
assertFalse(MathUtil.isNear(-42, 41, 2));
assertFalse(MathUtil.isNear(-42, 43, 2));
assertFalse(MathUtil.isNear(42, -42, 1));
assertFalse(MathUtil.isNear(42, -41, 2));
assertFalse(MathUtil.isNear(42, -43, 2));
// Floating point checks
assertTrue(MathUtil.isNear(42, 41.5, 1));
assertTrue(MathUtil.isNear(42, 42.5, 1));
assertTrue(MathUtil.isNear(42, 41.5, 0.75));
assertTrue(MathUtil.isNear(42, 42.5, 0.75));
// Wraparound checks
assertTrue(MathUtil.isNear(0, 356, 5, 0, 360));
assertTrue(MathUtil.isNear(0, -356, 5, 0, 360));
assertTrue(MathUtil.isNear(0, 4, 5, 0, 360));
assertTrue(MathUtil.isNear(0, -4, 5, 0, 360));
assertTrue(MathUtil.isNear(400, 41, 5, 0, 360));
assertTrue(MathUtil.isNear(400, -319, 5, 0, 360));
assertTrue(MathUtil.isNear(400, 401, 5, 0, 360));
assertFalse(MathUtil.isNear(0, 356, 2.5, 0, 360));
assertFalse(MathUtil.isNear(0, -356, 2.5, 0, 360));
assertFalse(MathUtil.isNear(0, 4, 2.5, 0, 360));
assertFalse(MathUtil.isNear(0, -4, 2.5, 0, 360));
assertFalse(MathUtil.isNear(400, 35, 5, 0, 360));
assertFalse(MathUtil.isNear(400, -315, 5, 0, 360));
assertFalse(MathUtil.isNear(400, 395, 5, 0, 360));
}
}