From a5add0f4b8ddca8ebd9dc53483faac74ef75067a Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Tue, 23 Jan 2024 11:05:56 +0100
Subject: [PATCH] Fixed tests

---
 VectorAlgebra     |  2 +-
 test/BB2B_Test.cc | 15 ++++++++-------
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/VectorAlgebra b/VectorAlgebra
index fd252d4..7ece8ab 160000
--- a/VectorAlgebra
+++ b/VectorAlgebra
@@ -1 +1 @@
-Subproject commit fd252d4b454548d6dd8eed17c0cae543f9655c18
+Subproject commit 7ece8abd029778505e1d1f23be265886bfa08543
diff --git a/test/BB2B_Test.cc b/test/BB2B_Test.cc
index 53c338a..9e2a628 100644
--- a/test/BB2B_Test.cc
+++ b/test/BB2B_Test.cc
@@ -96,7 +96,7 @@ TEST(BB2B, NoObstacle) {
   EXPECT_FLOAT_EQ(rightActualSpeed, 1.0F);
 
   Polar velocity =
-      diffDrive->GetVelocity(); // this depends on the wheel diameter.
+      diffDrive->GetActualVelocity(); // this depends on the wheel diameter.
   EXPECT_FLOAT_EQ(velocity.distance, 1.0F);
   EXPECT_FLOAT_EQ(velocity.angle, 0.0F);
 
@@ -205,11 +205,12 @@ TEST(BB2B, ObstacleLeft) {
 
   // Roboid velocity
   Polar velocity =
-      diffDrive->GetVelocity(); // this depends on the wheel diameter.
+      diffDrive->GetActualVelocity(); // this depends on the wheel diameter.
   EXPECT_FLOAT_EQ(velocity.distance, 0.0F);
 
   float angularVelocity =
-      diffDrive->GetAngularVelocity(); // this also depends on wheel separation
+      diffDrive
+          ->GetActualYawVelocity(); // this also depends on wheel separation
   EXPECT_FLOAT_EQ(angularVelocity, 90.0F);
 
 #pragma endregion
@@ -305,10 +306,10 @@ TEST(BB2B, ObstacleRight) {
   EXPECT_FLOAT_EQ(rightActualSpeed, 1.0F);
 
   // Roboid velocity
-  Polar velocity = diffDrive->GetVelocity();
+  Polar velocity = diffDrive->GetActualVelocity();
   EXPECT_FLOAT_EQ(velocity.distance, 0.0F);
 
-  float angularVelocity = diffDrive->GetAngularVelocity();
+  float angularVelocity = diffDrive->GetActualYawVelocity();
   EXPECT_FLOAT_EQ(angularVelocity, -90.0F);
 
 #pragma endregion
@@ -402,11 +403,11 @@ TEST(BB2B, ObstacleBoth) {
   EXPECT_FLOAT_EQ(rightActualSpeed, -1.0F);
 
   // Roboid velocity
-  Polar velocity = diffDrive->GetVelocity();
+  Polar velocity = diffDrive->GetActualVelocity();
   EXPECT_FLOAT_EQ(velocity.distance, 1.0F);
   EXPECT_FLOAT_EQ(velocity.angle, 180.0F);
 
-  float angularVelocity = diffDrive->GetAngularVelocity();
+  float angularVelocity = diffDrive->GetActualYawVelocity();
   EXPECT_FLOAT_EQ(angularVelocity, 0.0F);
 
 #pragma endregion