mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
30 lines
898 B
C++
30 lines
898 B
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#include <gtest/gtest.h>
|
|
#include "wpi/util/SmallVector.hpp"
|
|
|
|
#include "wpi/math/geometry/Pose3d.hpp"
|
|
|
|
using namespace frc;
|
|
|
|
namespace {
|
|
|
|
const Pose3d kExpectedData =
|
|
Pose3d{Translation3d{1.1_m, 2.2_m, 1.1_m},
|
|
Rotation3d{Quaternion{1.91, 0.3504, 3.3, 1.74}}};
|
|
} // namespace
|
|
|
|
TEST(Pose3dProtoTest, Roundtrip) {
|
|
wpi::ProtobufMessage<decltype(kExpectedData)> message;
|
|
wpi::SmallVector<uint8_t, 64> buf;
|
|
|
|
ASSERT_TRUE(message.Pack(buf, kExpectedData));
|
|
auto unpacked_data = message.Unpack(buf);
|
|
ASSERT_TRUE(unpacked_data.has_value());
|
|
|
|
EXPECT_EQ(kExpectedData.Translation(), unpacked_data->Translation());
|
|
EXPECT_EQ(kExpectedData.Rotation(), unpacked_data->Rotation());
|
|
}
|