22 lines
689 B
C++
22 lines
689 B
C++
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#include "pch.h"
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#include "../FalconLibraryCPP/src/Translation2d.h"
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#include "../FalconLibraryCPP/src/Rotation2d.h"
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constexpr double kTestEpsilon = 1E-9;
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TEST(TestRotation2d, TestRotation2d) {
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auto rot = frc5190::Rotation2d();
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EXPECT_EQ(1.0, rot.Cos());
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EXPECT_EQ(0.0, rot.Sin());
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EXPECT_EQ(0.0, rot.Tan());
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EXPECT_EQ(0.0, rot.Radians());
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EXPECT_EQ(0.0, rot.Degrees());
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rot = frc5190::Rotation2d(1, 1, true);
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EXPECT_NEAR(std::sqrt(2) / 2, rot.Cos(), kTestEpsilon);
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EXPECT_NEAR(std::sqrt(2) / 2, rot.Sin(), kTestEpsilon);
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EXPECT_NEAR(1.0, rot.Tan(), kTestEpsilon);
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EXPECT_NEAR(45.0, rot.Degrees(), kTestEpsilon);
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EXPECT_NEAR(frc5190::kPi / 4, rot.Radians(), kTestEpsilon);
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}
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