units test for angular jerk

ozrien · Aug 28, 2023 · 45ef74a · 45ef74a
1 parent ec7cc88
commit 45ef74a
Showing 1 changed file with 18 additions and 0 deletions.
diff --git a/wpimath/src/test/native/cpp/UnitsTest.cpp b/wpimath/src/test/native/cpp/UnitsTest.cpp
@@ -51,6 +51,7 @@
 
 using namespace units::acceleration;
 using namespace units::angle;
+using namespace units::angular_jerk;
 using namespace units::angular_acceleration;
 using namespace units::angular_velocity;
 using namespace units::area;
@@ -2003,6 +2004,23 @@ TEST_F(UnitConversion, angular_velocity) {
   EXPECT_NEAR(1.537e-16, test, 5.0e-20);
 }
 
+TEST_F(UnitConversion, angular_jerk) {
+  double test;
+  bool same;
+
+  same =
+      std::is_same_v<radians_per_second_cubed,
+                   unit<std::ratio<1>, category::angular_jerk_unit>>;
+  EXPECT_TRUE(same);
+  same = traits::is_convertible_unit_v<deg_per_s_cu, radians_per_second_cubed>;
+  EXPECT_TRUE(same);
+
+  test = convert<degrees_per_second_cubed, radians_per_second_cubed>(1.0);
+  EXPECT_NEAR(0.0174533, test, 5.0e-8);
+  test = convert<turns_per_second_cubed, radians_per_second_cubed>(1.0);
+  EXPECT_NEAR(6.283185307, test, 5.0e-6);
+}
+
 TEST_F(UnitConversion, acceleration) {
   double test;