Add tests for Pose2dSubject

Author: kcooney

testing/src/main/java/com/team2813/lib2813/testing/truth/Pose2dSubject.java

@@ -67,7 +67,7 @@ public TolerantComparison<Pose2d> isNotWithin(double tolerance) {
       @Override
       public void of(Pose2d expected) {
         translation().isNotWithin(tolerance).of(expected.getTranslation());
-        rotation().isWithin(tolerance).of(expected.getRotation());
+        rotation().isNotWithin(tolerance).of(expected.getRotation());
       }
     };
   }

testing/src/main/java/com/team2813/lib2813/testing/truth/Translation2dSubject.java

@@ -64,8 +64,8 @@ public TolerantComparison<Translation2d> isNotWithin(double tolerance) {
     return new TolerantComparison<Translation2d>() {
       @Override
       public void of(Translation2d expected) {
-        x().isWithin(tolerance).of(expected.getX());
-        y().isWithin(tolerance).of(expected.getY());
+        x().isNotWithin(tolerance).of(expected.getX());
+        y().isNotWithin(tolerance).of(expected.getY());
       }
     };
   }

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

@@ -34,6 +34,15 @@ public void isWithin_valueWithinTolerance_doesNotThrow(Pose2dComponent component
     Pose2dSubject.assertThat(closePose).isWithin(0.01).of(POSE);
   }
 
+  @ParameterizedTest
+  @EnumSource(Pose2dComponent.class)
+  public void isNotWithin_valueWithinTolerance_throws(Pose2dComponent component) {
+    Pose2d closePose = component.add(POSE, 0.009);
+
+    assertThrows(
+        AssertionError.class, () -> Pose2dSubject.assertThat(closePose).isNotWithin(0.01).of(POSE));
+  }
+
   @ParameterizedTest
   @EnumSource(Pose2dComponent.class)
   public void isWithin_valueNotWithinTolerance_throws(Pose2dComponent component) {
@@ -42,4 +51,12 @@ public void isWithin_valueNotWithinTolerance_throws(Pose2dComponent component) {
     assertThrows(
         AssertionError.class, () -> Pose2dSubject.assertThat(closePose).isWithin(0.01).of(POSE));
   }
+
+  @ParameterizedTest
+  @EnumSource(Pose2dComponent.class)
+  public void isNotWithin_valueNotWithinTolerance_doesNotThrow(Pose2dComponent component) {
+    Pose2d closePose = component.add(POSE, 0.011);
+
+    Pose2dSubject.assertThat(closePose).isNotWithin(0.01).of(POSE);
+  }
 }