trajectory/ballistics/constraints/BallisticConstraintTest: Base testing module for ballistic constraints

lib/src/test/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/constraints/BallisticConstraintTest.java

@@ -0,0 +1,50 @@
+package org.fairportrobotics.frc.robolib.trajectory.ballistics.constraints;
+
+import static org.junit.jupiter.api.Assertions.*;
+
+import java.util.List;
+
+import org.fairportrobotics.frc.robolib.trajectory.ballistics.exceptions.BallisticException;
+import org.fairportrobotics.frc.robolib.trajectory.ballistics.models.BallisticModel;
+
+
+public abstract class BallisticConstraintTest <T extends BallisticConstraint> {
+    //
+    //  Internal classes
+    //
+
+    public record TestConstraintEvalParams<U>(
+        String test_name,
+        BallisticModel<?> model,
+        BCEvalParams evalParams,
+        U constraint,
+        Double result
+    ) {}
+
+    //
+    //  Members
+    //
+
+    private double epsilon = 1e-5;
+
+    //
+    //  Methods
+    //
+
+    protected void testConstraintEval(List<TestConstraintEvalParams<T>> testParams) {
+        for (TestConstraintEvalParams<T> params : testParams) {
+            try {
+                Double result = params.constraint.evaluate(params.model, params.evalParams);
+
+                if(result == null || params.result == null) {
+                    assertEquals(params.result, result, params.test_name);
+                } else {
+                    assertEquals(params.result, result, epsilon, params.test_name);
+                }
+            } catch(BallisticException e) {
+                assertEquals("Got Ballistic Exception", e);
+            }
+        }
+    }
+
+}