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Added missing equality operations for DCMotor class #7888

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8517ff0
Added Equality operators for DCMotor class
jonathandao0 Apr 5, 2025
51dee6f
Applied wpiformat
jonathandao0 Apr 6, 2025
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27 changes: 27 additions & 0 deletions wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
import edu.wpi.first.math.util.Units;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
import java.util.Objects;

/** Holds the constants for a DC motor. */
public class DCMotor implements ProtobufSerializable, StructSerializable {
Expand Down Expand Up @@ -321,4 +322,30 @@ public static DCMotor getNeoVortex(int numMotors) {
return new DCMotor(
12, 3.60, 211, 3.6, Units.rotationsPerMinuteToRadiansPerSecond(6784), numMotors);
}

@Override
public boolean equals(Object obj) {
return obj instanceof DCMotor other
&& Math.abs(other.nominalVoltageVolts - nominalVoltageVolts) < 1E-9
&& Math.abs(other.stallTorqueNewtonMeters - stallTorqueNewtonMeters) < 1E-9
&& Math.abs(other.stallCurrentAmps - stallCurrentAmps) < 1E-9
&& Math.abs(other.freeCurrentAmps - freeCurrentAmps) < 1E-9
&& Math.abs(other.freeSpeedRadPerSec - freeSpeedRadPerSec) < 1E-9
&& Math.abs(other.rOhms - rOhms) < 1E-9
&& Math.abs(other.KvRadPerSecPerVolt - KvRadPerSecPerVolt) < 1E-9
&& Math.abs(other.KtNMPerAmp - KtNMPerAmp) < 1E-9;
}

@Override
public int hashCode() {
return Objects.hash(
nominalVoltageVolts,
stallTorqueNewtonMeters,
stallCurrentAmps,
freeCurrentAmps,
freeSpeedRadPerSec,
rOhms,
KvRadPerSecPerVolt,
KtNMPerAmp);
}
}
5 changes: 5 additions & 0 deletions wpimath/src/main/native/include/frc/system/plant/DCMotor.h
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Expand Up @@ -254,6 +254,11 @@ class WPILIB_DLLEXPORT DCMotor {
// From https://www.revrobotics.com/next-generation-spark-neo/
return DCMotor(12_V, 3.60_Nm, 211_A, 3.615_A, 6784_rpm, numMotors);
}

/**
* Checks equality between this DCMotor and another object.
*/
constexpr bool operator==(const DCMotor&) const = default;
};

} // namespace frc
Expand Down
21 changes: 21 additions & 0 deletions wpimath/src/test/java/edu/wpi/first/math/system/plant/DCMotorTest.java
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@@ -0,0 +1,21 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package edu.wpi.first.math.system.plant;

import static org.junit.jupiter.api.Assertions.assertEquals;

import edu.wpi.first.math.util.Units;
import org.junit.jupiter.api.Test;

class DCMotorTest {
@Test
void testDcMotorEquality() {
var gearboxA = DCMotor.getKrakenX60(2);
var gearboxB =
new DCMotor(12, 14.18, 732, 4, Units.rotationsPerMinuteToRadiansPerSecond(6000), 1);

assertEquals(gearboxA, gearboxB);
}
}
17 changes: 17 additions & 0 deletions wpimath/src/test/native/cpp/system/DCMotorTest.cpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include <functional>

#include <gtest/gtest.h>

#include "frc/system/plant/DCMotor.h"

using namespace frc;

TEST(DCMotorTest, Equality) {
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@calcmogul calcmogul Apr 6, 2025 •
edited
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This test isn't really necessary. It's a compiler-generated equality operator, and we don't write equality tests for other objects like this.

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Doesn't Pose2dTest.cpp implement this? Or is this just auto generated? I was looking at other cpp tests for reference of what to add (I'm not a heavy cpp user).

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We only test the ones with non-default implementations.

[tav@myriad cpp]$ rg Equality
kinematics/SwerveModuleStateTest.cpp
130:TEST(SwerveModuleStateTest, Equality) {

kinematics/SwerveModulePositionTest.cpp
10:TEST(SwerveModulePositionTest, Equality) {

geometry/Rotation2dTest.cpp
65:TEST(Rotation2dTest, Equality) {

geometry/Pose2dTest.cpp
65:TEST(Pose2dTest, Equality) {

geometry/Translation3dTest.cpp
132:TEST(Translation3dTest, Equality) {

geometry/QuaternionTest.cpp
216:TEST(QuaternionTest, DotProductAsEquality) {

geometry/Twist3dTest.cpp
58:TEST(Twist3dTest, Equality) {

geometry/Translation2dTest.cpp
85:TEST(Translation2dTest, Equality) {

geometry/Rotation3dTest.cpp
290:TEST(Rotation3dTest, Equality) {

geometry/Twist2dTest.cpp
42:TEST(Twist2dTest, Equality) {

geometry/Pose3dTest.cpp
99:TEST(Pose3dTest, Equality) {

const DCMotor a = DCMotor::KrakenX60(2);
const DCMotor b{12_V, 14.18_Nm, 732_A, 4_A, 6000_rpm, 1};
EXPECT_TRUE(a == b);
}
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