Shortened names, added tolerances.

wpimath/src/main/java/edu/wpi/first/math/geometry/Ellipse2d.java

@@ -142,8 +142,8 @@ private double solveEllipseEquation(Translation2d point) {
    * @param point The point to check.
    * @return True, if this ellipse's circumference intersects the point.
    */
-  public boolean intersectsPoint(Translation2d point) {
-    return solveEllipseEquation(point) == 1.0;
+  public boolean intersects(Translation2d point) {
+    return Math.abs(1.0 - solveEllipseEquation(point)) <= 1E-9;
   }
 
   /**
@@ -153,7 +153,7 @@ public boolean intersectsPoint(Translation2d point) {
    * @param point The point to check.
    * @return True, if the point is within or on the ellipse.
    */
-  public boolean containsPoint(Translation2d point) {
+  public boolean contains(Translation2d point) {
     return solveEllipseEquation(point) <= 1.0;
   }
 

wpimath/src/main/java/edu/wpi/first/math/geometry/Rectangle2d.java

@@ -127,15 +127,15 @@ public Rectangle2d rotateBy(Rotation2d other) {
    * @param point The point to check.
    * @return True, if the rectangle's perimeter intersects the point.
    */
-  public boolean intersectsPoint(Translation2d point) {
+  public boolean intersects(Translation2d point) {
     // Move the point into the rectangle's coordinate frame
     point = point.minus(m_center.getTranslation());
     point = point.rotateBy(m_center.getRotation().unaryMinus());
 
-    if (Math.abs(point.getX()) == m_xWidth / 2.0) {
+    if (Math.abs(Math.abs(point.getX()) - m_xWidth / 2.0) <= 1E-9) {
       // Point rests on left/right perimeter
       return Math.abs(point.getY()) <= m_yWidth / 2.0;
-    } else if (Math.abs(point.getY()) == m_yWidth / 2.0) {
+    } else if (Math.abs(Math.abs(point.getY()) - m_yWidth / 2.0) <= 1E-9) {
       // Point rests on top/bottom perimeter
       return Math.abs(point.getX()) <= m_xWidth / 2.0;
     }
@@ -150,7 +150,7 @@ public boolean intersectsPoint(Translation2d point) {
    * @param point The point to check.
    * @return True, if the rectangle contains the point or the perimeter intersects the point.
    */
-  public boolean containsPoint(Translation2d point) {
+  public boolean contains(Translation2d point) {
     // Rotate the point into the rectangle's coordinate frame
     point = point.rotateAround(m_center.getTranslation(), m_center.getRotation().unaryMinus());
 
@@ -167,8 +167,8 @@ public boolean containsPoint(Translation2d point) {
    * @param point The point to check.
    * @return The distance (0, if the point is contained by the rectangle)
    */
-  public double distanceToPoint(Translation2d point) {
-    if (containsPoint(point)) {
+  public double distance(Translation2d point) {
+    if (contains(point)) {
       return 0.0;
     }
 
@@ -192,8 +192,8 @@ public double distanceToPoint(Translation2d point) {
    */
   public Translation2d findNearestPoint(Translation2d point) {
     // Check if already in rectangle
-    if (containsPoint(point)) {
-      return new Translation2d(point.getX(), point.getY());
+    if (contains(point)) {
+      return point;
     }
 
     // Rotate the point by the inverse of the rectangle's rotation

wpimath/src/test/java/edu/wpi/first/math/geometry/Ellipse2dTest.java

@@ -35,8 +35,8 @@ void testIntersectsPoint() {
     var pointB = new Translation2d(0.0, 3.0);
 
     assertAll(
-        () -> assertTrue(ellipse.intersectsPoint(pointA)),
-        () -> assertFalse(ellipse.intersectsPoint(pointB)));
+        () -> assertTrue(ellipse.intersects(pointA)),
+        () -> assertFalse(ellipse.intersects(pointB)));
   }
 
   @Test
@@ -48,8 +48,7 @@ void testContainsPoint() {
     var pointB = new Translation2d(0.5, -2.0);
 
     assertAll(
-        () -> assertTrue(ellipse.containsPoint(pointA)),
-        () -> assertFalse(ellipse.containsPoint(pointB)));
+        () -> assertTrue(ellipse.contains(pointA)), () -> assertFalse(ellipse.contains(pointB)));
   }
 
   @Test

wpimath/src/test/java/edu/wpi/first/math/geometry/Rectangle2dTest.java

@@ -35,10 +35,10 @@ void testIntersectsPoint() {
     var rect = new Rectangle2d(center, 2.0, 3.0);
 
     assertAll(
-        () -> assertTrue(rect.intersectsPoint(new Translation2d(5.5, 4.0))),
-        () -> assertTrue(rect.containsPoint(new Translation2d(3.0, 2.0))),
-        () -> assertFalse(rect.containsPoint(new Translation2d(4.0, 1.5))),
-        () -> assertFalse(rect.intersectsPoint(new Translation2d(4.0, 3.5))));
+        () -> assertTrue(rect.intersects(new Translation2d(5.5, 4.0))),
+        () -> assertTrue(rect.intersects(new Translation2d(3.0, 2.0))),
+        () -> assertFalse(rect.intersects(new Translation2d(4.0, 1.5))),
+        () -> assertFalse(rect.intersects(new Translation2d(4.0, 3.5))));
   }
 
   @Test
@@ -47,9 +47,9 @@ void testContainsPoint() {
     var rect = new Rectangle2d(center, 3.0, 1.0);
 
     assertAll(
-        () -> assertTrue(rect.containsPoint(new Translation2d(2.0, 3.0))),
-        () -> assertTrue(rect.containsPoint(new Translation2d(3.0, 4.0))),
-        () -> assertFalse(rect.containsPoint(new Translation2d(3.0, 3.0))));
+        () -> assertTrue(rect.contains(new Translation2d(2.0, 3.0))),
+        () -> assertTrue(rect.contains(new Translation2d(3.0, 4.0))),
+        () -> assertFalse(rect.contains(new Translation2d(3.0, 3.0))));
   }
 
   @Test
@@ -63,10 +63,10 @@ void testDistanceToPoint() {
     var point4 = new Translation2d(-1.0, 2.5);
 
     assertAll(
-        () -> assertEquals(0.5, rect.distanceToPoint(point1), kEpsilon),
-        () -> assertEquals(0.0, rect.distanceToPoint(point2), kEpsilon),
-        () -> assertEquals(0.5, rect.distanceToPoint(point3), kEpsilon),
-        () -> assertEquals(1.0, rect.distanceToPoint(point4), kEpsilon));
+        () -> assertEquals(0.5, rect.distance(point1), kEpsilon),
+        () -> assertEquals(0.0, rect.distance(point2), kEpsilon),
+        () -> assertEquals(0.5, rect.distance(point3), kEpsilon),
+        () -> assertEquals(1.0, rect.distance(point4), kEpsilon));
   }
 
   @Test