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33 lines
1.1 KiB
C++
33 lines
1.1 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 <gtest/gtest.h>
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#include "frc/geometry/Twist3d.h"
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#include "geometry3d.pb.h"
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using namespace frc;
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namespace {
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using ProtoType = wpi::Protobuf<frc::Twist3d>;
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const Twist3d kExpectedData =
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Twist3d{1.1_m, 2.29_m, 35.04_m, 0.174_rad, 19.1_rad, 4.4_rad};
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} // namespace
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TEST(Twist3dProtoTest, Roundtrip) {
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google::protobuf::Arena arena;
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google::protobuf::Message* proto = ProtoType::New(&arena);
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ProtoType::Pack(proto, kExpectedData);
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Twist3d unpacked_data = ProtoType::Unpack(*proto);
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EXPECT_EQ(kExpectedData.dx.value(), unpacked_data.dx.value());
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EXPECT_EQ(kExpectedData.dy.value(), unpacked_data.dy.value());
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EXPECT_EQ(kExpectedData.dz.value(), unpacked_data.dz.value());
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EXPECT_EQ(kExpectedData.rx.value(), unpacked_data.rx.value());
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EXPECT_EQ(kExpectedData.ry.value(), unpacked_data.ry.value());
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EXPECT_EQ(kExpectedData.rz.value(), unpacked_data.rz.value());
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}
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