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

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This commit is contained in:
Pascal Serrarens 2024-01-17 11:36:55 +01:00
parent 047f1dac29
commit 4f71f939e0
3 changed files with 11 additions and 15 deletions
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2
DifferentialDrive.cpp
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@ -93,7 +93,7 @@ float DifferentialDrive::GetAngularVelocity() {
leftSpeed = leftSpeed * rpsToMs; // in meters per second leftSpeed = leftSpeed * rpsToMs; // in meters per second
rightSpeed = rightSpeed * rpsToMs; // in meters per second rightSpeed = rightSpeed * rpsToMs; // in meters per second
float angularSpeed = (rightSpeed - leftSpeed) / 2; float angularSpeed = (leftSpeed - rightSpeed) / 2;
float angularDistance = wheelSeparation / 2 * Angle::pi; float angularDistance = wheelSeparation / 2 * Angle::pi;
float rotationsPerSecond = angularSpeed / angularDistance; float rotationsPerSecond = angularSpeed / angularDistance;
float degreesPerSecond = Angle::Normalize(360 * rotationsPerSecond); float degreesPerSecond = Angle::Normalize(360 * rotationsPerSecond);

16
test/BB2B_Test.cc
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@ -130,7 +130,7 @@ TEST(BB2B, ObstacleLeft) {
DifferentialDrive *propulsion = new DifferentialDrive(motorLeft, motorRight); DifferentialDrive *propulsion = new DifferentialDrive(motorLeft, motorRight);
propulsion->SetDimensions( propulsion->SetDimensions(
1 / Angle::pi, // we use this, such that motor speed 1 -> velocity 1 m/s 1 / Angle::pi, // we use this, such that motor speed 1 -> velocity 1 m/s
4 / Angle::pi); // we use this, such that angular velocity will be 180 8 / Angle::pi); // we use this, such that angular velocity will be 90
// degrees per second // degrees per second
Roboid *roboid = new Roboid(perception, propulsion); Roboid *roboid = new Roboid(perception, propulsion);
@ -205,11 +205,10 @@ TEST(BB2B, ObstacleLeft) {
Polar velocity = Polar velocity =
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);
EXPECT_FLOAT_EQ(velocity.angle, 0.0F);
float angularVelocity = float angularVelocity =
diffDrive->GetAngularVelocity(); // this also depends on wheel separation diffDrive->GetAngularVelocity(); // this also depends on wheel separation
EXPECT_FLOAT_EQ(angularVelocity, 180.0F); EXPECT_FLOAT_EQ(angularVelocity, 90.0F);
#pragma endregion #pragma endregion
} }
@ -232,7 +231,7 @@ TEST(BB2B, ObstacleRight) {
DifferentialDrive *propulsion = new DifferentialDrive(motorLeft, motorRight); DifferentialDrive *propulsion = new DifferentialDrive(motorLeft, motorRight);
propulsion->SetDimensions( propulsion->SetDimensions(
1 / Angle::pi, // we use this, such that motor speed 1 -> velocity 1 m/s 1 / Angle::pi, // we use this, such that motor speed 1 -> velocity 1 m/s
4 / Angle::pi); // we use this, such that angular velocity will be 180 8 / Angle::pi); // we use this, such that angular velocity will be 90
// degrees per second // degrees per second
Roboid *roboid = new Roboid(perception, propulsion); Roboid *roboid = new Roboid(perception, propulsion);
@ -304,14 +303,11 @@ TEST(BB2B, ObstacleRight) {
EXPECT_FLOAT_EQ(rightActualSpeed, 1.0F); EXPECT_FLOAT_EQ(rightActualSpeed, 1.0F);
// Roboid velocity // Roboid velocity
Polar velocity = Polar velocity = diffDrive->GetVelocity();
diffDrive->GetVelocity(); // this depends on the wheel diameter.
EXPECT_FLOAT_EQ(velocity.distance, 0.0F); EXPECT_FLOAT_EQ(velocity.distance, 0.0F);
EXPECT_FLOAT_EQ(velocity.angle, 0.0F);
float angularVelocity = float angularVelocity = diffDrive->GetAngularVelocity();
diffDrive->GetAngularVelocity(); // this also depends on wheel separation EXPECT_FLOAT_EQ(angularVelocity, -90.0F);
EXPECT_FLOAT_EQ(angularVelocity, -180.0F);
#pragma endregion #pragma endregion
} }

8
test/CMakeLists.txt
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@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.13) # CMake version check cmake_minimum_required(VERSION 3.13) # CMake version check
Project(RoboidControlTestNew) Project(RoboidControlTest)
set(CMAKE_CXX_STANDARD 11) # Enable c++11 standard set(CMAKE_CXX_STANDARD 11) # Enable c++11 standard
set(CMAKE_POSITION_INDEPENDENT_CODE ON) set(CMAKE_POSITION_INDEPENDENT_CODE ON)
@ -22,16 +22,16 @@ include_directories(
enable_testing() enable_testing()
add_executable( add_executable(
RoboidControlTestNew RoboidControlTest
"BB2B_Test.cc" "BB2B_Test.cc"
) )
target_link_libraries( target_link_libraries(
RoboidControlTestNew RoboidControlTest
gtest_main gtest_main
RoboidControl RoboidControl
VectorAlgebra VectorAlgebra
) )
include(GoogleTest) include(GoogleTest)
gtest_discover_tests(RoboidControlTestNew) gtest_discover_tests(RoboidControlTest)