Start Testing MathUtil

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One todo added

quail/src/test/java/quail/util/MathUtilTest.java

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+// Copyright (C) Marcus Kauffman 2023-Present
+
+// This work would not have been possible without the work of many
+// contributors, most notably Colin Montigel. See ACKNOWLEDGEMENT.md for
+// more details.
+
+// This file is part of Quail.
+
+// Quail is free software: you can redistribute it and/or modify it
+// underthe terms of the GNU General Public License as published by the
+// Free Software Foundation, version 3.
+
+// Quail is distributed in the hope that it will be useful, but WITHOUT
+// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+// for more details.
+
+// You should have received a copy of the GNU General Public License
+// along with Quail. If not, see <https://www.gnu.org/licenses/>
+
+package quail.util;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import org.junit.jupiter.api.Disabled;
+
+import com.mineinjava.quail.util.MathUtil;
+import com.mineinjava.quail.util.geometry.Pose2d;
+import org.junit.jupiter.api.Test;
+
+public class MathUtilTest {
+  @Test
+  void EpsilionEquals() {
+    assertTrue(
+        MathUtil.epsilonEquals(0, 1e-7),
+        "a difference of less than the epsilon should return true");
+    assertFalse(
+        MathUtil.epsilonEquals(0, 1e-5),
+        "a difference of greater than the epsilon should return false");
+  }
+
+  @Test
+  void SkewerCircle(){
+    assertTrue(
+        MathUtil.LineSegHitCircle(
+            new Pose2d(0, -1, 0), new Pose2d(0, 1, 0), new Pose2d(0, 0, 0), 0.1),
+        "skewer");
+  }
+  @Test
+  @Disabled
+  void PopCircle() { //TODO: Fix the function do make this work
+    assertTrue(
+        MathUtil.LineSegHitCircle(
+            new Pose2d(0, 0, 0), new Pose2d(1, 1, 0), new Pose2d(0, 0, 0), 1),
+        "pop");
+  } 
+  @Test
+  void InsideCircle() {
+    assertFalse(
+        MathUtil.LineSegHitCircle(
+            new Pose2d(-1, -1, 0), new Pose2d(1, 1, 0), new Pose2d(0, 0, 0), 10),
+        "inside");
+  }
+  @Test
+  void MissCircle() {
+    assertFalse(
+        MathUtil.LineSegHitCircle(
+            new Pose2d(-1, -1, 0), new Pose2d(1, 1, 0), new Pose2d(0, -10, 0), 1),
+        "miss");
+  }
+
+  @Test
+  void Lerp() {
+    assertEquals(5, MathUtil.lerp(0, 10, 0.5));
+  }
+}