Rjd 1278/geometry update

[robomic]

Description

Abstract

This PR contains revisions of the geometry package unit tests.

Details

Test directory of the geometry package has been restructured to resemble directory tree of the corresponding source tree and other, existing test directories.

Tests that have been refactored, now contain descriptions.

List of tests updated in this PR:

1. LineSegment.getPoint_outOfBounds_denormalized
2. LineSegment.getPoint_outOfBounds_normalized
3. LineSegment.getPoint_inside_denormalized
4. LineSegment.getPoint_inside_normalized
5. LineSegment.getPose_denormalized
6. LineSegment.getPose_normalized
7. LineSegment.getPose_pitch
8. LineSegment.isIntersect2D_collinear
9. LineSegment.isIntersect2D_pointInside
10. LineSegment.isIntersect2D_pointOutside
11. LineSegment.isIntersect2D_pointCollinear
12. LineSegment.isIntersect2D_pointOnEnd
13. LineSegment.getIntersection2DSValue_line_vertical
14. LineSegment.getIntersection2DSValue_line_horizontal
15. LineSegment.getIntersection2DSValue_line_bounds
16. LineSegment.getIntersection2DSValue_line_outside
17. LineSegment.getIntersection2DSValue_line_collinear
18. LineSegment.getIntersection2DSValue_point_vertical
19. LineSegment.getIntersection2DSValue_point_horizontal
20. LineSegment.getIntersection2DSValue_point_bounds
21. LineSegment.getIntersection2DSValue_point_outside
22. LineSegment.getIntersection2DIntersect
23. LineSegment.getIntersection2DIdentical
24. Quaternion.operator+
25. Quaternion.operator-
26. Quaternion.operator*
27. Quaternion.operator+=
28. HermiteCurveTest.getTangentVectorDenormalized1
29. HermiteCurveTest.getTangentVectorDenormalized2
30. HermiteCurveTest.getTangentVectorDenormalized3
31. HermiteCurveTest.getTangentVectorDenormalized4
32. HermiteCurveTest.getNormalVectorDenormalized1
33. HermiteCurveTest.getNormalVectorDenormalized2
34. HermiteCurveTest.getNormalVectorDenormalized3
35. HermiteCurveTest.getNormalVectorDenormalized4
36. HermiteCurveTest.getSValueDenormalized
37. Vector3.norm_msgVector
38. Vector3.normalize_zeroLength
39. BoundingBox.toPolygon2D_ZeroPose
40. BoundingBox.toPolygon2D_OnlyTranslation
41. BoundingBox.toPolygon2D_FullPose

References

Jira ticket: internal link

Destructive Changes

There are no destructive changes.

[github-actions]

Checklist for reviewers ☑️

All references to "You" in the following text refer to the code reviewer.

• Is this pull request written in a way that is easy to read from a third-party perspective?
• Is there sufficient information (background, purpose, specification, algorithm description, list of disruptive changes, and migration guide) in the description of this pull request?
• If this pull request contains a destructive change, does this pull request contain the migration guide?
• Labels of this pull request are valid?
• All unit tests/integration tests are included in this pull request? If you think adding test cases is unnecessary, please describe why and cross out this line.
• The documentation for this pull request is enough? If you think adding documents for this pull request is unnecessary, please describe why and cross out this line.

[robomic]

All failing tests in this PR do not pass because of these two issues:
#1343
#1344

[robomic]

After merge of the line_segment fixes, this PR is ready for a review