Merge branch 'main' into refactor-path

Mineinjava · Aug 10, 2024 · e7c5cf3 · e7c5cf3
2 parents f9208a9 + e42eb49
commit e7c5cf3
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Showing 4 changed files with 7 additions and 7 deletions.
diff --git a/quail/src/main/java/com/mineinjava/quail/util/MathUtil.java b/quail/src/main/java/com/mineinjava/quail/util/MathUtil.java
@@ -38,7 +38,7 @@ public static boolean epsilonEquals(double value1, double value2) {
    *
    * <p>https://stackoverflow.com/a/1084899/13224997
    */
-  public static boolean LineSegHitCircle(
+  public static boolean lineSegHitCircle(
       Pose2d lineSegStart, Pose2d lineSegEnd, Pose2d circleCenter, double circleRadius) {
 
     Vec2d d = lineSegEnd.vec().subtract(lineSegStart.vec());

diff --git a/quail/src/main/java/com/mineinjava/quail/util/geometry/Pose2d.java b/quail/src/main/java/com/mineinjava/quail/util/geometry/Pose2d.java
@@ -160,7 +160,7 @@ public boolean isHit(double radius, Pose2d robotPose, Pose2d oldRobotPose) {
     if (this.distanceTo(robotPose) < radius) {
       return true;
     } else {
-      return MathUtil.LineSegHitCircle(robotPose, oldRobotPose, this, radius);
+      return MathUtil.lineSegHitCircle(robotPose, oldRobotPose, this, radius);
     }
   }
 

diff --git a/quail/src/test/java/quail/util/MathUtilTest.java b/quail/src/test/java/quail/util/MathUtilTest.java
@@ -44,7 +44,7 @@ void EpsilionEquals() {
   @Test
   void SkewerCircle() {
     assertTrue(
-        MathUtil.LineSegHitCircle(
+        MathUtil.lineSegHitCircle(
             new Pose2d(0, -1, 0), new Pose2d(0, 1, 0), new Pose2d(0, 0, 0), 0.1),
         "skewer");
   }
@@ -53,22 +53,22 @@ void SkewerCircle() {
   @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),
+        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(
+        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(
+        MathUtil.lineSegHitCircle(
             new Pose2d(-1, -1, 0), new Pose2d(1, 1, 0), new Pose2d(0, -10, 0), 1),
         "miss");
   }

diff --git a/quail/src/test/java/quail/util/geometry/Pose2dTest.java b/quail/src/test/java/quail/util/geometry/Pose2dTest.java
@@ -104,7 +104,7 @@ public void IsHit() {
     Pose2d oldRobotPose = new Pose2d(2, 2, 0);
     double radius = 1.5;
     boolean expected =
-        true; // Assume the circle is hit based on provided MathUtil.LineSegHitCircle behavior
+        true; // Assume the circle is hit based on provided MathUtil.lineSegHitCircle behavior
     boolean result = pose.isHit(radius, robotPose, oldRobotPose);
     assertEquals(expected, result);
   }