Fix tests
This commit is contained in:
Pascal Serrarens
parent
9b0a5e066f
commit
10700da996
@ -12,9 +12,10 @@
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/// @brief A Distance sensor with testing support
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/// With this sensor it is possible to simulate a measurement
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class MockDistanceSensor : public DistanceSensor {
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public:
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MockDistanceSensor() : DistanceSensor(){};
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MockDistanceSensor(float triggerDistance) : DistanceSensor(triggerDistance){};
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public:
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MockDistanceSensor() : DistanceSensor() {};
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MockDistanceSensor(float triggerDistance)
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: DistanceSensor(triggerDistance) {};
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void SimulateMeasurement(float distance) { this->distance = distance; }
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};
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@ -22,20 +23,21 @@ public:
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TEST(BB2B, NoObstacle) {
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#pragma region Setup
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Motor *motorLeft = new Motor();
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Motor *motorRight = new Motor();
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Motor* motorLeft = new Motor();
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Motor* motorRight = new Motor();
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DifferentialDrive *propulsion = new DifferentialDrive(motorLeft, motorRight);
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DifferentialDrive* propulsion = new DifferentialDrive(motorLeft, motorRight);
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propulsion->SetDimensions(
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1 / Angle::pi, // we use this, such that motor speed 1 -> velocity 1 m/s
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1 / Passer::LinearAlgebra::pi, // we use this, such that motor speed 1 ->
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// velocity 1 m/s
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1);
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Roboid *roboid = new Roboid(propulsion);
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Roboid* roboid = new Roboid(propulsion);
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MockDistanceSensor *sensorLeft = new MockDistanceSensor(10.0F);
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MockDistanceSensor* sensorLeft = new MockDistanceSensor(10.0F);
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sensorLeft->position.horizontalAngle = -30;
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roboid->AddChild(sensorLeft);
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MockDistanceSensor *sensorRight = new MockDistanceSensor(10.0F);
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MockDistanceSensor* sensorRight = new MockDistanceSensor(10.0F);
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sensorRight->SetParent(roboid);
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sensorRight->position.horizontalAngle = 30;
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@ -49,8 +51,8 @@ TEST(BB2B, NoObstacle) {
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float distanceLeft = sensorLeft->GetDistance();
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float distanceRight = sensorRight->GetDistance();
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EXPECT_LT(distanceLeft, 0.0F); // negative values are invalid
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EXPECT_LT(distanceRight, 0.0F); // negative values are invalid
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EXPECT_LT(distanceLeft, 0.0F); // negative values are invalid
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EXPECT_LT(distanceRight, 0.0F); // negative values are invalid
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#pragma endregion
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@ -68,8 +70,8 @@ TEST(BB2B, NoObstacle) {
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distanceLeft = sensorLeft->GetDistance();
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distanceRight = sensorRight->GetDistance();
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EXPECT_LT(distanceLeft, 0.0F); // negative values are invalid
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EXPECT_LT(distanceRight, 0.0F); // negative values are invalid
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EXPECT_LT(distanceLeft, 0.0F); // negative values are invalid
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EXPECT_LT(distanceRight, 0.0F); // negative values are invalid
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int trackedObjectCount = roboid->perception->TrackedObjectCount();
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EXPECT_EQ(trackedObjectCount, 0);
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@ -86,7 +88,7 @@ TEST(BB2B, NoObstacle) {
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EXPECT_FLOAT_EQ(leftMotorSpeed, 1.0F);
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EXPECT_FLOAT_EQ(rightMotorSpeed, 1.0F);
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DifferentialDrive *diffDrive = (DifferentialDrive *)roboid->propulsion;
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DifferentialDrive* diffDrive = (DifferentialDrive*)roboid->propulsion;
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diffDrive->SetMotorTargetSpeeds(leftMotorSpeed, rightMotorSpeed);
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float leftActualSpeed = motorLeft->GetActualSpeed();
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@ -96,15 +98,15 @@ TEST(BB2B, NoObstacle) {
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EXPECT_FLOAT_EQ(rightActualSpeed, 1.0F);
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Polar velocity =
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diffDrive->GetVelocity(); // this depends on the wheel diameter.
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diffDrive->GetVelocity(); // this depends on the wheel diameter.
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EXPECT_FLOAT_EQ(velocity.distance, 1.0F);
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EXPECT_FLOAT_EQ(velocity.angle, 0.0F);
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EXPECT_FLOAT_EQ(velocity.angle.ToFloat(), 0.0F);
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trackedObjectCount = roboid->perception->TrackedObjectCount();
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EXPECT_EQ(trackedObjectCount, 0);
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InterestingThing **trackedObjects = roboid->perception->GetTrackedObjects();
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InterestingThing *trackedObject = nullptr;
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InterestingThing** trackedObjects = roboid->perception->GetTrackedObjects();
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InterestingThing* trackedObject = nullptr;
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for (int i = 0; i < roboid->perception->maxObjectCount; i++) {
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if (trackedObjects[i] != nullptr)
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trackedObject = trackedObjects[0];
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@ -117,21 +119,22 @@ TEST(BB2B, NoObstacle) {
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TEST(BB2B, ObstacleLeft) {
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#pragma region Setup
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Motor *motorLeft = new Motor();
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Motor *motorRight = new Motor();
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Motor* motorLeft = new Motor();
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Motor* motorRight = new Motor();
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DifferentialDrive *propulsion = new DifferentialDrive(motorLeft, motorRight);
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DifferentialDrive* propulsion = new DifferentialDrive(motorLeft, motorRight);
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propulsion->SetDimensions(
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1 / Angle::pi, // we use this, such that motor speed 1 -> velocity 1 m/s
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8 / Angle::pi); // we use this, such that angular velocity will be 90
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// degrees per second
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1 / Passer::LinearAlgebra::pi, // we use this, such that motor speed 1 ->
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// velocity 1 m/s
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8 / Passer::LinearAlgebra::pi); // we use this, such that angular
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// velocity will be 90 degrees per second
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Roboid *roboid = new Roboid(propulsion);
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Roboid* roboid = new Roboid(propulsion);
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MockDistanceSensor *sensorLeft = new MockDistanceSensor();
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MockDistanceSensor* sensorLeft = new MockDistanceSensor();
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sensorLeft->position.horizontalAngle = -30;
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roboid->AddChild(sensorLeft);
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MockDistanceSensor *sensorRight = new MockDistanceSensor();
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MockDistanceSensor* sensorRight = new MockDistanceSensor();
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sensorRight->SetParent(roboid);
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sensorRight->position.horizontalAngle = 30;
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@ -154,7 +157,7 @@ TEST(BB2B, ObstacleLeft) {
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float distanceRight = sensorRight->GetDistance();
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EXPECT_FLOAT_EQ(distanceLeft, 0.1F);
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EXPECT_LT(distanceRight, 0.0F); // invalid
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EXPECT_LT(distanceRight, 0.0F); // invalid
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// Obstacle
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bool obstacleLeft = roboid->perception->ObjectNearby(-30);
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@ -168,8 +171,8 @@ TEST(BB2B, ObstacleLeft) {
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EXPECT_EQ(trackedObjectCount, 1);
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// Find the single tracked object
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InterestingThing **trackedObjects = roboid->perception->GetTrackedObjects();
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InterestingThing *trackedObject = nullptr;
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InterestingThing** trackedObjects = roboid->perception->GetTrackedObjects();
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InterestingThing* trackedObject = nullptr;
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for (int i = 0; i < roboid->perception->maxObjectCount; i++) {
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if (trackedObjects[i] != nullptr)
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trackedObject = trackedObjects[i];
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@ -177,7 +180,7 @@ TEST(BB2B, ObstacleLeft) {
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ASSERT_FALSE(trackedObject == nullptr);
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EXPECT_FLOAT_EQ(trackedObject->position.distance, 0.1F);
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EXPECT_FLOAT_EQ(trackedObject->position.horizontalAngle, -30);
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EXPECT_FLOAT_EQ(trackedObject->position.horizontalAngle.ToFloat(), -30);
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#pragma endregion
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@ -190,7 +193,7 @@ TEST(BB2B, ObstacleLeft) {
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EXPECT_FLOAT_EQ(leftMotorSpeed, 1.0F);
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EXPECT_FLOAT_EQ(rightMotorSpeed, -1.0F);
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DifferentialDrive *diffDrive = (DifferentialDrive *)roboid->propulsion;
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DifferentialDrive* diffDrive = (DifferentialDrive*)roboid->propulsion;
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diffDrive->SetMotorTargetSpeeds(leftMotorSpeed, rightMotorSpeed);
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#pragma endregion
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@ -205,11 +208,11 @@ TEST(BB2B, ObstacleLeft) {
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// Roboid velocity
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Polar velocity =
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diffDrive->GetVelocity(); // this depends on the wheel diameter.
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diffDrive->GetVelocity(); // this depends on the wheel diameter.
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EXPECT_FLOAT_EQ(velocity.distance, 0.0F);
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float angularVelocity =
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diffDrive->GetAngularVelocity(); // this also depends on wheel separation
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diffDrive->GetAngularVelocity(); // this also depends on wheel separation
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EXPECT_FLOAT_EQ(angularVelocity, 90.0F);
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#pragma endregion
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@ -218,21 +221,23 @@ TEST(BB2B, ObstacleLeft) {
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TEST(BB2B, ObstacleRight) {
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#pragma region Setup
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Motor *motorLeft = new Motor();
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Motor *motorRight = new Motor();
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Motor* motorLeft = new Motor();
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Motor* motorRight = new Motor();
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DifferentialDrive *propulsion = new DifferentialDrive(motorLeft, motorRight);
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DifferentialDrive* propulsion = new DifferentialDrive(motorLeft, motorRight);
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propulsion->SetDimensions(
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1 / Angle::pi, // we use this, such that motor speed 1 -> velocity 1 m/s
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8 / Angle::pi); // we use this, such that angular velocity will be 90
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// degrees per second
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1 / Passer::LinearAlgebra::pi, // we use this, such that motor speed 1 ->
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// velocity 1 m/s
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8 / Passer::LinearAlgebra::pi); // we use this, such that angular
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// velocity will be 90 degrees per
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// second
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Roboid *roboid = new Roboid(propulsion);
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Roboid* roboid = new Roboid(propulsion);
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MockDistanceSensor *sensorLeft = new MockDistanceSensor();
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MockDistanceSensor* sensorLeft = new MockDistanceSensor();
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sensorLeft->position.horizontalAngle = -30;
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roboid->AddChild(sensorLeft);
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MockDistanceSensor *sensorRight = new MockDistanceSensor();
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MockDistanceSensor* sensorRight = new MockDistanceSensor();
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sensorRight->SetParent(roboid);
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sensorRight->position.horizontalAngle = 30;
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@ -254,7 +259,7 @@ TEST(BB2B, ObstacleRight) {
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float distanceLeft = sensorLeft->GetDistance();
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float distanceRight = sensorRight->GetDistance();
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EXPECT_LT(distanceLeft, 0.0F); // invalid
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EXPECT_LT(distanceLeft, 0.0F); // invalid
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EXPECT_FLOAT_EQ(distanceRight, 0.1F);
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// Obstacle
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@ -269,8 +274,8 @@ TEST(BB2B, ObstacleRight) {
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EXPECT_EQ(trackedObjectCount, 1);
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// Find the single tracked object
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InterestingThing **trackedObjects = roboid->perception->GetTrackedObjects();
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InterestingThing *trackedObject = nullptr;
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InterestingThing** trackedObjects = roboid->perception->GetTrackedObjects();
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InterestingThing* trackedObject = nullptr;
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for (int i = 0; i < roboid->perception->maxObjectCount; i++) {
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if (trackedObjects[i] != nullptr)
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trackedObject = trackedObjects[i];
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@ -278,7 +283,7 @@ TEST(BB2B, ObstacleRight) {
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ASSERT_FALSE(trackedObject == nullptr);
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EXPECT_FLOAT_EQ(trackedObject->position.distance, 0.1F);
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EXPECT_FLOAT_EQ(trackedObject->position.horizontalAngle, 30);
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EXPECT_FLOAT_EQ(trackedObject->position.horizontalAngle.ToFloat(), 30);
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#pragma endregion
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@ -291,7 +296,7 @@ TEST(BB2B, ObstacleRight) {
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EXPECT_FLOAT_EQ(leftMotorSpeed, -1.0F);
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EXPECT_FLOAT_EQ(rightMotorSpeed, 1.0F);
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DifferentialDrive *diffDrive = (DifferentialDrive *)roboid->propulsion;
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DifferentialDrive* diffDrive = (DifferentialDrive*)roboid->propulsion;
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diffDrive->SetMotorTargetSpeeds(leftMotorSpeed, rightMotorSpeed);
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#pragma endregion
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@ -317,20 +322,21 @@ TEST(BB2B, ObstacleRight) {
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TEST(BB2B, ObstacleBoth) {
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#pragma region Setup
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Motor *motorLeft = new Motor();
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Motor *motorRight = new Motor();
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Motor* motorLeft = new Motor();
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Motor* motorRight = new Motor();
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DifferentialDrive *propulsion = new DifferentialDrive(motorLeft, motorRight);
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DifferentialDrive* propulsion = new DifferentialDrive(motorLeft, motorRight);
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propulsion->SetDimensions(
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1 / Angle::pi, // we use this, such that motor speed 1 -> velocity 1 m/s
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8 / Angle::pi); // we use this, such that angular velocity will be 90
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// degrees per second
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Roboid *roboid = new Roboid(propulsion);
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1 / Passer::LinearAlgebra::pi, // we use this, such that motor speed 1 ->
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// velocity 1 m/s
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8 / Passer::LinearAlgebra::pi); // we use this, such that angular
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// velocity will be 90 degrees per second
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Roboid* roboid = new Roboid(propulsion);
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MockDistanceSensor *sensorLeft = new MockDistanceSensor();
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MockDistanceSensor* sensorLeft = new MockDistanceSensor();
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sensorLeft->position.horizontalAngle = -30;
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roboid->AddChild(sensorLeft);
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MockDistanceSensor *sensorRight = new MockDistanceSensor();
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MockDistanceSensor* sensorRight = new MockDistanceSensor();
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sensorRight->SetParent(roboid);
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sensorRight->position.horizontalAngle = 30;
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@ -367,7 +373,7 @@ TEST(BB2B, ObstacleBoth) {
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EXPECT_EQ(trackedObjectCount, 2);
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// Find the single tracked object
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InterestingThing **trackedObjects = roboid->perception->GetTrackedObjects();
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InterestingThing** trackedObjects = roboid->perception->GetTrackedObjects();
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for (int i = 0; i < roboid->perception->maxObjectCount; i++) {
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if (trackedObjects[i] != nullptr) {
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EXPECT_FLOAT_EQ(trackedObjects[i]->position.distance, 0.1F);
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@ -387,7 +393,7 @@ TEST(BB2B, ObstacleBoth) {
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EXPECT_FLOAT_EQ(leftMotorSpeed, -1.0F);
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EXPECT_FLOAT_EQ(rightMotorSpeed, -1.0F);
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DifferentialDrive *diffDrive = (DifferentialDrive *)roboid->propulsion;
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DifferentialDrive* diffDrive = (DifferentialDrive*)roboid->propulsion;
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diffDrive->SetMotorTargetSpeeds(leftMotorSpeed, rightMotorSpeed);
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#pragma endregion
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@ -403,7 +409,7 @@ TEST(BB2B, ObstacleBoth) {
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// Roboid velocity
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Polar velocity = diffDrive->GetVelocity();
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EXPECT_FLOAT_EQ(velocity.distance, 1.0F);
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EXPECT_FLOAT_EQ(velocity.angle, 180.0F);
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EXPECT_FLOAT_EQ(velocity.angle.ToFloat(), 180.0F);
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float angularVelocity = diffDrive->GetAngularVelocity();
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EXPECT_FLOAT_EQ(angularVelocity, 0.0F);
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