update tests

PhotonVision · Nov 24, 2023 · 4826b18 · 4826b18
1 parent ca15e66
commit 4826b18
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Showing 4 changed files with 31 additions and 111 deletions.
diff --git a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
@@ -38,7 +38,6 @@
 #include "photon/PhotonCamera.h"
 #include "photon/PhotonPoseEstimator.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
-#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
 

diff --git a/photon-targeting/src/test/native/cpp/targeting/MultiTargetPNPResultTest.cpp b/photon-targeting/src/test/native/cpp/targeting/MultiTargetPNPResultTest.cpp
@@ -20,27 +20,39 @@
 #include "photon/targeting/MultiTargetPNPResult.h"
 
 TEST(MultiTargetPNPResultTest, Equality) {
-  photon::MultiTargetPNPResult a;
-  photon::MultiTargetPNPResult b;
-
-  EXPECT_EQ(a, b);
-
-  photon::PNPResult pnpRes{
+  photon::MultiTargetPNPResult a{
       frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
       0.1,
       frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-      0.1, 0};
+      0.1,
+      0,
 
-  photon::MultiTargetPNPResult a1{pnpRes, {1, 2, 3, 4}};
-  photon::MultiTargetPNPResult b1{pnpRes, {1, 2, 3, 4}};
+      {1, 2, 3, 4}};
+  photon::MultiTargetPNPResult b{
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      0.1,
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      0.1,
+      0,
+      {1, 2, 3, 4}};
 
-  EXPECT_EQ(a1, b1);
+  EXPECT_EQ(a, b);
 }
 
 TEST(MultiTargetPNPResultTest, Roundtrip) {
-  photon::MultiTargetPNPResult result;
+  photon::MultiTargetPNPResult result{
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      0.1,
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      0.1,
+      0,
+      {1, 2, 3, 4}};
 
   google::protobuf::Arena arena;
   google::protobuf::Message* proto =
@@ -51,22 +63,4 @@ TEST(MultiTargetPNPResultTest, Roundtrip) {
       wpi::Protobuf<photon::MultiTargetPNPResult>::Unpack(*proto);
 
   EXPECT_EQ(result, unpacked_data);
-
-  photon::PNPResult pnpRes{
-      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
-                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-      0.1,
-      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
-                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-      0.1, 0};
-
-  photon::MultiTargetPNPResult result1{pnpRes, {1, 2, 3, 4}};
-
-  proto = wpi::Protobuf<photon::MultiTargetPNPResult>::New(&arena);
-  wpi::Protobuf<photon::MultiTargetPNPResult>::Pack(proto, result1);
-
-  photon::MultiTargetPNPResult unpacked_data1 =
-      wpi::Protobuf<photon::MultiTargetPNPResult>::Unpack(*proto);
-
-  EXPECT_EQ(result1, unpacked_data1);
 }
diff --git a/photon-targeting/src/test/native/cpp/targeting/PNPResultTest.cpp b/photon-targeting/src/test/native/cpp/targeting/PNPResultTest.cpp
diff --git a/photon-targeting/src/test/native/cpp/targeting/PhotonPipelineResultTest.cpp b/photon-targeting/src/test/native/cpp/targeting/PhotonPipelineResultTest.cpp
@@ -61,23 +61,22 @@ TEST(PhotonPipelineResultTest, Equality) {
 
   EXPECT_EQ(a1, b1);
 
-  photon::PNPResult pnpRes{
+  photon::MultiTargetPNPResult multitagRes{
       frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
       0.1,
       frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-      0.1, 0};
-
-  photon::MultiTargetPNPResult multitagRes{pnpRes, {1, 2, 3, 4}};
+      0.1,
+      0,
+      {1, 2, 3, 4}};
 
   photon::PhotonPipelineResult a2{12_ms, targets, multitagRes};
   photon::PhotonPipelineResult b2{12_ms, targets, multitagRes};
 
   EXPECT_EQ(a2, b2);
 }
 
-// TODO
 TEST(PhotonPipelineResultTest, Roundtrip) {
   photon::PhotonPipelineResult result{12_ms, {}};
 
@@ -130,15 +129,15 @@ TEST(PhotonPipelineResultTest, Roundtrip) {
 
   EXPECT_EQ(result2, unpacked_data2);
 
-  photon::PNPResult pnpRes{
+  photon::MultiTargetPNPResult multitagRes{
       frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
       0.1,
       frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-      0.1, 0};
-
-  photon::MultiTargetPNPResult multitagRes{pnpRes, {1, 2, 3, 4}};
+      0.1,
+      0,
+      {1, 2, 3, 4}};
 
   photon::PhotonPipelineResult result3{12_ms, targets, multitagRes};