RoboidControl/RoboidControl-cpp
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Fixed (copilot) unit tests

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This commit is contained in:
Pascal Serrarens 2024-12-26 11:05:49 +01:00
parent 585a3b0fe5
commit 97d937e77c
1 changed files with 19 additions and 20 deletions
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39
test/Polar_test.cc
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@ -29,43 +29,43 @@ TEST(Polar, FromVector2) {
}
TEST(Polar, FromSpherical) {
Spherical s;
SphericalSingle s;
Polar p;
s = Spherical(1, Angle::Degrees(0), Angle::Degrees(0));
s = SphericalSingle(1, Angle::Degrees(0), Angle::Degrees(0));
p = Polar::FromSpherical(s);
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance FromSpherical(1 0 0)";
EXPECT_FLOAT_EQ(p.angle.InDegrees(), 0.0F) << "p.angle FromSpherical(1 0 0)";
s = Spherical(1, Angle::Degrees(45), Angle::Degrees(0));
s = SphericalSingle(1, Angle::Degrees(45), Angle::Degrees(0));
p = Polar::FromSpherical(s);
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance FromSpherical(1 45 0)";
EXPECT_FLOAT_EQ(p.angle.InDegrees(), 45.0F)
<< "p.angle FromSpherical(1 45 0)";
s = Spherical(1, Angle::Degrees(-45), Angle::Degrees(0));
s = SphericalSingle(1, Angle::Degrees(-45), Angle::Degrees(0));
p = Polar::FromSpherical(s);
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance FromSpherical(1 -45 0)";
EXPECT_FLOAT_EQ(p.angle.InDegrees(), -45.0F)
<< "p.angle FromSpherical(1 -45 0)";
s = Spherical(0, Angle::Degrees(0), Angle::Degrees(0));
s = SphericalSingle(0, Angle::Degrees(0), Angle::Degrees(0));
p = Polar::FromSpherical(s);
EXPECT_FLOAT_EQ(p.distance, 0.0F) << "p.distance FromSpherical(0 0 0)";
EXPECT_FLOAT_EQ(p.angle.InDegrees(), 0.0F) << "p.angle FromSpherical(0 0 0)";
s = Spherical(-1, Angle::Degrees(0), Angle::Degrees(0));
s = SphericalSingle(-1, Angle::Degrees(0), Angle::Degrees(0));
p = Polar::FromSpherical(s);
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance FromSpherical(-1 0 0)";
EXPECT_FLOAT_EQ(p.angle.InDegrees(), -180.0F)
<< "p.angle FromSpherical(-1 0 0)";
s = Spherical(0, Angle::Degrees(0), Angle::Degrees(90));
s = SphericalSingle(0, Angle::Degrees(0), Angle::Degrees(90));
p = Polar::FromSpherical(s);
EXPECT_FLOAT_EQ(p.distance, 0.0F) << "p.distance FromSpherical(0 0 90)";
@ -212,20 +212,19 @@ TEST(PolarOfTest, TestDistanceZero) {
}
// Edge Case 2: Testing with negative distance, angle should be adjusted
// TEST(PolarOfTest, TestNegativeDistance) {
// PolarOf<float> p2(-10.0f, AngleOf<float>::Degrees(90.0f));
// EXPECT_EQ(p2.distance, 10.0f); // Ensure distance is positive
// EXPECT_NEAR(p2.angle.InDegrees(), 270.0f,
// 0.0001f); // Ensure angle is normalized to 270 degrees (180 +
// 90)
// }
TEST(PolarOfTest, TestNegativeDistance) {
PolarOf<float> p2(-10.0f, AngleOf<float>::Degrees(90.0f));
EXPECT_EQ(p2.distance, 10.0f); // Ensure distance is positive
EXPECT_NEAR(p2.angle.InDegrees(), -90.0f,
0.0001f); // Ensure angle is normalized to 270 degrees (180 + 90)
}
// Edge Case 3: Testing with positive distance and angle = 180
// TEST(PolarOfTest, TestPositiveDistance) {
// PolarOf<float> p3(100.0f, AngleOf<float>::Degrees(180.0f));
// EXPECT_EQ(p3.distance, 100.0f); // Ensure distance is correct
// EXPECT_NEAR(p3.angle.InDegrees(), 180.0f, 0.0001f); // Ensure angle is
// correct
// }
TEST(PolarOfTest, TestPositiveDistance) {
PolarOf<float> p3(100.0f, AngleOf<float>::Degrees(180.0f));
EXPECT_EQ(p3.distance, 100.0f); // Ensure distance is correct
EXPECT_NEAR(p3.angle.InDegrees(), -180.0f,
0.0001f); // Ensure angle is correct
}
#endif