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3be83784cd
This is useful for undoing transformations. One application my FRC team found was converting perspective n-point data from a "camera to target" coordinate frame transformation to a "target to camera" coordinate frame transformation.
34 lines
1.4 KiB
C++
34 lines
1.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <cmath>
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#include "frc/geometry/Pose2d.h"
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#include "frc/geometry/Rotation2d.h"
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#include "frc/geometry/Transform2d.h"
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#include "frc/geometry/Translation2d.h"
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#include "gtest/gtest.h"
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using namespace frc;
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static constexpr double kEpsilon = 1E-9;
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TEST(Transform2dTest, Inverse) {
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const Pose2d initial{1_m, 2_m, Rotation2d(45.0_deg)};
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const Transform2d transform{Translation2d{5.0_m, 0.0_m}, Rotation2d(5.0_deg)};
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auto transformed = initial + transform;
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auto untransformed = transformed + transform.Inverse();
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EXPECT_NEAR(initial.Translation().X().to<double>(),
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untransformed.Translation().X().to<double>(), kEpsilon);
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EXPECT_NEAR(initial.Translation().Y().to<double>(),
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untransformed.Translation().Y().to<double>(), kEpsilon);
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EXPECT_NEAR(initial.Rotation().Degrees().to<double>(),
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untransformed.Rotation().Degrees().to<double>(), kEpsilon);
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}
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