mirror of
https://github.com/wpilibsuite/allwpilib
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fbdc810887
* Use explicit this capture required by C++20 * Use C++20 span * Replace wpi::numbers with std::numbers * Fix C++20 clang-tidy warning false positive in fmt * Remove ciso646 include since C++20 removed that header * Fix global-buffer-overflow asan warnings in ntcore tests * Add DIOSetProxy constructor to HAL * Upgrade MSVC compiler to 2022 * Bump native-utils to 2023.2.7 (changes to std=c++20) Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
66 lines
1.8 KiB
C++
66 lines
1.8 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <cmath>
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#include <numbers>
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#include "frc/geometry/Rotation2d.h"
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#include "gtest/gtest.h"
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using namespace frc;
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TEST(Rotation2dTest, RadiansToDegrees) {
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const Rotation2d rot1{units::radian_t{std::numbers::pi / 3.0}};
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const Rotation2d rot2{units::radian_t{std::numbers::pi / 4.0}};
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EXPECT_DOUBLE_EQ(60.0, rot1.Degrees().value());
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EXPECT_DOUBLE_EQ(45.0, rot2.Degrees().value());
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}
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TEST(Rotation2dTest, DegreesToRadians) {
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const auto rot1 = Rotation2d{45_deg};
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const auto rot2 = Rotation2d{30_deg};
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EXPECT_DOUBLE_EQ(std::numbers::pi / 4.0, rot1.Radians().value());
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EXPECT_DOUBLE_EQ(std::numbers::pi / 6.0, rot2.Radians().value());
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}
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TEST(Rotation2dTest, RotateByFromZero) {
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const Rotation2d zero;
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auto rotated = zero + Rotation2d{90_deg};
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EXPECT_DOUBLE_EQ(std::numbers::pi / 2.0, rotated.Radians().value());
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EXPECT_DOUBLE_EQ(90.0, rotated.Degrees().value());
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}
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TEST(Rotation2dTest, RotateByNonZero) {
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auto rot = Rotation2d{90_deg};
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rot = rot + Rotation2d{30_deg};
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EXPECT_DOUBLE_EQ(120.0, rot.Degrees().value());
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}
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TEST(Rotation2dTest, Minus) {
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const auto rot1 = Rotation2d{70_deg};
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const auto rot2 = Rotation2d{30_deg};
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EXPECT_DOUBLE_EQ(40.0, (rot1 - rot2).Degrees().value());
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}
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TEST(Rotation2dTest, Equality) {
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auto rot1 = Rotation2d{43_deg};
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auto rot2 = Rotation2d{43_deg};
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EXPECT_EQ(rot1, rot2);
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rot1 = Rotation2d{-180_deg};
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rot2 = Rotation2d{180_deg};
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EXPECT_EQ(rot1, rot2);
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}
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TEST(Rotation2dTest, Inequality) {
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const auto rot1 = Rotation2d{43_deg};
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const auto rot2 = Rotation2d{43.5_deg};
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EXPECT_NE(rot1, rot2);
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}
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