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a583ca01e1
This required changing the constant values (e.g. kSize) into functions (e.g. GetSize()). Fixed implementations of ForEachNested to be inline (as these are actually templates). Also added a ntcore Struct test.
29 lines
901 B
C++
29 lines
901 B
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/Transform3d.h"
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using namespace frc;
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namespace {
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using StructType = wpi::Struct<frc::Transform3d>;
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const Transform3d kExpectedData{
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Transform3d{Translation3d{0.3504_m, 22.9_m, 3.504_m},
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Rotation3d{Quaternion{0.3504, 35.04, 2.29, 0.3504}}}};
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} // namespace
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TEST(Transform3dStructTest, Roundtrip) {
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uint8_t buffer[StructType::GetSize()];
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std::memset(buffer, 0, StructType::GetSize());
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StructType::Pack(buffer, kExpectedData);
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Transform3d unpacked_data = StructType::Unpack(buffer);
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EXPECT_EQ(kExpectedData.Translation(), unpacked_data.Translation());
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EXPECT_EQ(kExpectedData.Rotation(), unpacked_data.Rotation());
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}
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