Add tests for Truth Subjects (#152)

Author: kcooney

testing/src/test/java/com/team2813/lib2813/testing/truth/Component.java

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+/*
+Copyright 2026 Prospect Robotics SWENext Club
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+package com.team2813.lib2813.testing.truth;
+
+import java.util.List;
+import java.util.stream.Stream;
+import org.junit.jupiter.api.extension.ExtensionContext;
+import org.junit.jupiter.params.provider.Arguments;
+import org.junit.jupiter.params.provider.ArgumentsProvider;
+import org.junit.jupiter.params.support.ParameterDeclarations;
+
+interface Component {
+
+  Type getType();
+
+  enum Type {
+    TRANSLATION,
+    ROTATION
+  }
+
+  abstract class ComponentArgumentsProvider<T extends Component> implements ArgumentsProvider {
+    private final List<T> values;
+
+    protected ComponentArgumentsProvider(Type componentType, Stream<T> allValues) {
+      values = allValues.filter(c -> c.getType() == componentType).toList();
+    }
+
+    @Override
+    public final Stream<? extends Arguments> provideArguments(
+        ParameterDeclarations parameters, ExtensionContext context) {
+      return values.stream().map(Arguments::of);
+    }
+  }
+}

testing/src/test/java/com/team2813/lib2813/testing/truth/Pose2dComponent.java

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+/*
+Copyright 2026 Prospect Robotics SWENext Club
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+package com.team2813.lib2813.testing.truth;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import java.util.stream.Stream;
+
+/** Represents component in a two-dimensional coordinate system. */
+enum Pose2dComponent implements Component {
+  X(Type.TRANSLATION) {
+    @Override
+    Pose2d add(Pose2d pose, double value) {
+      return new Pose2d(pose.getX() + value, pose.getY(), pose.getRotation());
+    }
+  },
+  Y(Type.TRANSLATION) {
+    @Override
+    Pose2d add(Pose2d pose, double value) {
+      return new Pose2d(pose.getX(), pose.getY() + value, pose.getRotation());
+    }
+  },
+  R(Type.ROTATION) {
+    @Override
+    Pose2d add(Pose2d pose, double value) {
+      return new Pose2d(
+          pose.getTranslation(), new Rotation2d(pose.getRotation().getRadians() + value));
+    }
+  };
+
+  /** An arguments provider for Pose3dComponent values that represent translations. */
+  static class TranslationsArgumentsProvider extends ComponentArgumentsProvider<Pose2dComponent> {
+    TranslationsArgumentsProvider() {
+      super(Type.TRANSLATION, Stream.of(Pose2dComponent.values()));
+    }
+  }
+
+  private final Type componentType;
+
+  Pose2dComponent(Type componentType) {
+    this.componentType = componentType;
+  }
+
+  @Override
+  public final Type getType() {
+    return componentType;
+  }
+
+  abstract Pose2d add(Pose2d pose, double value);
+
+  final Translation2d add(Translation2d translation, double value) {
+    Pose2d pose = new Pose2d(translation, Rotation2d.kZero);
+    pose = add(pose, value);
+    return pose.getTranslation();
+  }
+
+  final Rotation2d add(Rotation2d rotation, double value) {
+    Pose2d pose = new Pose2d(Translation2d.kZero, rotation);
+    pose = add(pose, value);
+    return pose.getRotation();
+  }
+}

testing/src/test/java/com/team2813/lib2813/testing/truth/Pose2dSubjectTest.java

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+/*
+Copyright 2026 Prospect Robotics SWENext Club
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+package com.team2813.lib2813.testing.truth;
+
+import static org.junit.jupiter.api.Assertions.assertThrows;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+
+/** Tests for {@link Pose2dSubject}. */
+class Pose2dSubjectTest {
+  private static final Pose2d POSE = new Pose2d(7.353, 0.706, new Rotation2d(Math.PI / 6));
+
+  @ParameterizedTest
+  @EnumSource(Pose2dComponent.class)
+  public void isWithin_valueWithinTolerance_doesNotThrow(Pose2dComponent component) {
+    Pose2d closePose = component.add(POSE, 0.009);
+
+    Pose2dSubject.assertThat(closePose).isWithin(0.01).of(POSE);
+  }
+
+  @ParameterizedTest
+  @EnumSource(Pose2dComponent.class)
+  public void isWithin_valueNotWithinTolerance_throws(Pose2dComponent component) {
+    Pose2d closePose = component.add(POSE, 0.011);
+
+    assertThrows(
+        AssertionError.class, () -> Pose2dSubject.assertThat(closePose).isWithin(0.01).of(POSE));
+  }
+}

testing/src/test/java/com/team2813/lib2813/testing/truth/Pose3dComponent.java

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+/*
+Copyright 2026 Prospect Robotics SWENext Club
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+package com.team2813.lib2813.testing.truth;
+
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import java.util.stream.Stream;
+
+/** Represents component in a three-dimensional coordinate system. */
+enum Pose3dComponent implements Component {
+  X(Type.TRANSLATION) {
+    @Override
+    Pose3d add(Pose3d pose, double value) {
+      return new Pose3d(pose.getX() + value, pose.getY(), pose.getZ(), pose.getRotation());
+    }
+  },
+  Y(Type.TRANSLATION) {
+    @Override
+    Pose3d add(Pose3d pose, double value) {
+      return new Pose3d(pose.getX(), pose.getY() + value, pose.getZ(), pose.getRotation());
+    }
+  },
+  Z(Type.TRANSLATION) {
+    @Override
+    Pose3d add(Pose3d pose, double value) {
+      return new Pose3d(pose.getX(), pose.getY(), pose.getZ() + value, pose.getRotation());
+    }
+  },
+  ROLL(Type.ROTATION) {
+    @Override
+    Pose3d add(Pose3d pose, double value) {
+      Rotation3d rotation = pose.getRotation();
+      return new Pose3d(
+          pose.getTranslation(),
+          new Rotation3d(rotation.getX() + value, rotation.getY(), rotation.getZ()));
+    }
+  },
+  PITCH(Type.ROTATION) {
+    @Override
+    Pose3d add(Pose3d pose, double value) {
+      Rotation3d rotation = pose.getRotation();
+      return new Pose3d(
+          pose.getTranslation(),
+          new Rotation3d(rotation.getX(), rotation.getY() + value, rotation.getZ()));
+    }
+  },
+  YAW(Type.ROTATION) {
+    @Override
+    Pose3d add(Pose3d pose, double value) {
+      Rotation3d rotation = pose.getRotation();
+      return new Pose3d(
+          pose.getTranslation(),
+          new Rotation3d(rotation.getX(), rotation.getY(), rotation.getZ() + value));
+    }
+  };
+
+  /** An arguments provider for Pose3dComponent values that represent translations. */
+  static class TranslationsArgumentsProvider extends ComponentArgumentsProvider<Pose3dComponent> {
+    TranslationsArgumentsProvider() {
+      super(Type.TRANSLATION, Stream.of(Pose3dComponent.values()));
+    }
+  }
+
+  /** An arguments provider for Pose3dComponent values that represent rotations. */
+  static class RotationsArgumentsProvider extends ComponentArgumentsProvider<Pose3dComponent> {
+    RotationsArgumentsProvider() {
+      super(Type.ROTATION, Stream.of(Pose3dComponent.values()));
+    }
+  }
+
+  private final Type componentType;
+
+  Pose3dComponent(Type componentType) {
+    this.componentType = componentType;
+  }
+
+  @Override
+  public final Type getType() {
+    return componentType;
+  }
+
+  abstract Pose3d add(Pose3d pose, double value);
+
+  final Translation3d add(Translation3d translation, double value) {
+    Pose3d pose = new Pose3d(translation, Rotation3d.kZero);
+    pose = add(pose, value);
+    return pose.getTranslation();
+  }
+
+  final Rotation3d add(Rotation3d rotation, double value) {
+    Pose3d pose = new Pose3d(Translation3d.kZero, rotation);
+    pose = add(pose, value);
+    return pose.getRotation();
+  }
+}

testing/src/test/java/com/team2813/lib2813/testing/truth/Pose3dSubjectTest.java

@@ -0,0 +1,46 @@
+/*
+Copyright 2026 Prospect Robotics SWENext Club
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+package com.team2813.lib2813.testing.truth;
+
+import static org.junit.jupiter.api.Assertions.*;
+
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+
+/** Tests for {@link Pose3dSubject}. */
+class Pose3dSubjectTest {
+  private static final Pose3d POSE =
+      new Pose3d(7.353, 0.706, 42.00, new Rotation3d(6.81, -25.67, 3.16));
+
+  @ParameterizedTest
+  @EnumSource(Pose3dComponent.class)
+  public void isWithin_valueWithinTolerance_doesNotThrow(Pose3dComponent component) {
+    Pose3d closePose = component.add(POSE, 0.009);
+
+    Pose3dSubject.assertThat(closePose).isWithin(0.01).of(POSE);
+  }
+
+  @ParameterizedTest
+  @EnumSource(Pose3dComponent.class)
+  public void isWithin_valueNotWithinTolerance_throws(Pose3dComponent component) {
+    Pose3d closePose = component.add(POSE, 0.011);
+
+    assertThrows(
+        AssertionError.class, () -> Pose3dSubject.assertThat(closePose).isWithin(0.01).of(POSE));
+  }
+}

testing/src/test/java/com/team2813/lib2813/testing/truth/Rotation2dSubjectTest.java

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+/*
+Copyright 2026 Prospect Robotics SWENext Club
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+package com.team2813.lib2813.testing.truth;
+
+import static org.junit.jupiter.api.Assertions.*;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import org.junit.jupiter.api.Test;
+
+/** Tests for {@link Rotation2dSubject}. */
+class Rotation2dSubjectTest {
+  private static final Rotation2d ROTATION = new Rotation2d(Math.PI / 6);
+
+  @Test
+  public void isWithin_valueWithinTolerance_doesNotThrow() {
+    Rotation2d closeRotation = Pose2dComponent.R.add(ROTATION, 0.009);
+
+    Rotation2dSubject.assertThat(closeRotation).isWithin(0.01).of(ROTATION);
+  }
+
+  @Test
+  public void isWithin_valueNotWithinTolerance_throws() {
+    Rotation2d closeRotation = Pose2dComponent.R.add(ROTATION, 0.011);
+
+    assertThrows(
+        AssertionError.class,
+        () -> Rotation2dSubject.assertThat(closeRotation).isWithin(0.01).of(ROTATION));
+  }
+}