RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Fix unit tests

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This commit is contained in:
Pascal Serrarens 2024-11-29 15:09:47 +01:00
parent 6356769aa9
commit 40c1e1d50c
1 changed files with 6 additions and 6 deletions
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12
test/BB2B_Test.cc
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@ -212,9 +212,9 @@ TEST(BB2B, ObstacleLeft) {
diffDrive->GetVelocity(); // this depends on the wheel diameter. diffDrive->GetVelocity(); // this depends on the wheel diameter.
EXPECT_FLOAT_EQ(velocity.distance, 0.0F); EXPECT_FLOAT_EQ(velocity.distance, 0.0F);
float angularVelocity = Spherical16 angularVelocity =
diffDrive->GetAngularVelocity(); // this also depends on wheel separation diffDrive->GetAngularVelocity(); // this also depends on wheel separation
EXPECT_FLOAT_EQ(angularVelocity, 90.0F); EXPECT_FLOAT_EQ(angularVelocity.distance, 90.0F);
#pragma endregion #pragma endregion
} }
@ -315,8 +315,8 @@ TEST(BB2B, ObstacleRight) {
Spherical16 velocity = diffDrive->GetVelocity(); Spherical16 velocity = diffDrive->GetVelocity();
EXPECT_FLOAT_EQ(velocity.distance, 0.0F); EXPECT_FLOAT_EQ(velocity.distance, 0.0F);
float angularVelocity = diffDrive->GetAngularVelocity(); Spherical16 angularVelocity = diffDrive->GetAngularVelocity();
EXPECT_FLOAT_EQ(angularVelocity, -90.0F); EXPECT_FLOAT_EQ(angularVelocity.distance, -90.0F);
#pragma endregion #pragma endregion
} }
@ -413,8 +413,8 @@ TEST(BB2B, ObstacleBoth) {
EXPECT_FLOAT_EQ(velocity.distance, 1.0F); EXPECT_FLOAT_EQ(velocity.distance, 1.0F);
EXPECT_FLOAT_EQ(velocity.direction.horizontal.InDegrees(), -180.0F); EXPECT_FLOAT_EQ(velocity.direction.horizontal.InDegrees(), -180.0F);
float angularVelocity = diffDrive->GetAngularVelocity(); Spherical16 angularVelocity = diffDrive->GetAngularVelocity();
EXPECT_FLOAT_EQ(angularVelocity, 0.0F); EXPECT_FLOAT_EQ(angularVelocity.distance, 0.0F);
#pragma endregion #pragma endregion
} }