diff --git a/test/BB2B_Test.cc b/test/BB2B_Test.cc index c88a8d8..856966c 100644 --- a/test/BB2B_Test.cc +++ b/test/BB2B_Test.cc @@ -12,7 +12,7 @@ /// @brief A Distance sensor with testing support /// With this sensor it is possible to simulate a measurement class MockDistanceSensor : public DistanceSensor { - public: +public: MockDistanceSensor() : DistanceSensor() {}; MockDistanceSensor(float triggerDistance) : DistanceSensor(triggerDistance) {}; @@ -23,21 +23,21 @@ class MockDistanceSensor : public DistanceSensor { TEST(BB2B, NoObstacle) { #pragma region Setup - Motor* motorLeft = new Motor(); - Motor* motorRight = new Motor(); + Motor *motorLeft = new Motor(); + Motor *motorRight = new Motor(); - DifferentialDrive* propulsion = new DifferentialDrive(motorLeft, motorRight); + DifferentialDrive *propulsion = new DifferentialDrive(motorLeft, motorRight); propulsion->SetDimensions( - 1 / Passer::LinearAlgebra::pi, // we use this, such that motor speed 1 -> - // velocity 1 m/s + 1 / Passer::LinearAlgebra::pi, // we use this, such that motor speed 1 -> + // velocity 1 m/s 1); - Roboid* roboid = new Roboid(propulsion); + Roboid *roboid = new Roboid(propulsion); - MockDistanceSensor* sensorLeft = new MockDistanceSensor(10.0F); + MockDistanceSensor *sensorLeft = new MockDistanceSensor(10.0F); sensorLeft->position.direction.horizontal = Angle16::Degrees(-30); roboid->AddChild(sensorLeft); - MockDistanceSensor* sensorRight = new MockDistanceSensor(10.0F); + MockDistanceSensor *sensorRight = new MockDistanceSensor(10.0F); sensorRight->SetParent(roboid); sensorRight->position.direction.horizontal = Angle16::Degrees(30); @@ -51,8 +51,8 @@ TEST(BB2B, NoObstacle) { float distanceLeft = sensorLeft->GetDistance(); float distanceRight = sensorRight->GetDistance(); - EXPECT_LT(distanceLeft, 0.0F); // negative values are invalid - EXPECT_LT(distanceRight, 0.0F); // negative values are invalid + EXPECT_LT(distanceLeft, 0.0F); // negative values are invalid + EXPECT_LT(distanceRight, 0.0F); // negative values are invalid #pragma endregion @@ -70,8 +70,8 @@ TEST(BB2B, NoObstacle) { distanceLeft = sensorLeft->GetDistance(); distanceRight = sensorRight->GetDistance(); - EXPECT_LT(distanceLeft, 0.0F); // negative values are invalid - EXPECT_LT(distanceRight, 0.0F); // negative values are invalid + EXPECT_LT(distanceLeft, 0.0F); // negative values are invalid + EXPECT_LT(distanceRight, 0.0F); // negative values are invalid int trackedObjectCount = roboid->perception->TrackedObjectCount(); EXPECT_EQ(trackedObjectCount, 0); @@ -88,7 +88,7 @@ TEST(BB2B, NoObstacle) { EXPECT_FLOAT_EQ(leftMotorSpeed, 1.0F); EXPECT_FLOAT_EQ(rightMotorSpeed, 1.0F); - DifferentialDrive* diffDrive = (DifferentialDrive*)roboid->propulsion; + DifferentialDrive *diffDrive = (DifferentialDrive *)roboid->propulsion; diffDrive->SetMotorTargetSpeeds(leftMotorSpeed, rightMotorSpeed); float leftActualSpeed = motorLeft->GetActualSpeed(); @@ -97,16 +97,16 @@ TEST(BB2B, NoObstacle) { EXPECT_FLOAT_EQ(leftActualSpeed, 1.0F); EXPECT_FLOAT_EQ(rightActualSpeed, 1.0F); - Polar velocity = - diffDrive->GetVelocity(); // this depends on the wheel diameter. + Spherical16 velocity = + diffDrive->GetVelocity(); // this depends on the wheel diameter. EXPECT_FLOAT_EQ(velocity.distance, 1.0F); - EXPECT_FLOAT_EQ(velocity.angle.InDegrees(), 0.0F); + EXPECT_FLOAT_EQ(velocity.direction.horizontal.InDegrees(), 0.0F); trackedObjectCount = roboid->perception->TrackedObjectCount(); EXPECT_EQ(trackedObjectCount, 0); - InterestingThing** trackedObjects = roboid->perception->GetTrackedObjects(); - InterestingThing* trackedObject = nullptr; + InterestingThing **trackedObjects = roboid->perception->GetTrackedObjects(); + InterestingThing *trackedObject = nullptr; for (int i = 0; i < roboid->perception->maxObjectCount; i++) { if (trackedObjects[i] != nullptr) trackedObject = trackedObjects[0]; @@ -119,22 +119,22 @@ TEST(BB2B, NoObstacle) { TEST(BB2B, ObstacleLeft) { #pragma region Setup - Motor* motorLeft = new Motor(); - Motor* motorRight = new Motor(); + Motor *motorLeft = new Motor(); + Motor *motorRight = new Motor(); - DifferentialDrive* propulsion = new DifferentialDrive(motorLeft, motorRight); + DifferentialDrive *propulsion = new DifferentialDrive(motorLeft, motorRight); propulsion->SetDimensions( 1 / Passer::LinearAlgebra::pi, // we use this, such that motor speed 1 -> // velocity 1 m/s - 8 / Passer::LinearAlgebra::pi); // we use this, such that angular - // velocity will be 90 degrees per second + 8 / Passer::LinearAlgebra::pi); // we use this, such that angular + // velocity will be 90 degrees per second - Roboid* roboid = new Roboid(propulsion); + Roboid *roboid = new Roboid(propulsion); - MockDistanceSensor* sensorLeft = new MockDistanceSensor(); + MockDistanceSensor *sensorLeft = new MockDistanceSensor(); sensorLeft->position.direction.horizontal = Angle16::Degrees(-30); roboid->AddChild(sensorLeft); - MockDistanceSensor* sensorRight = new MockDistanceSensor(); + MockDistanceSensor *sensorRight = new MockDistanceSensor(); sensorRight->SetParent(roboid); sensorRight->position.direction.horizontal = Angle16::Degrees(30); @@ -157,7 +157,7 @@ TEST(BB2B, ObstacleLeft) { float distanceRight = sensorRight->GetDistance(); EXPECT_FLOAT_EQ(distanceLeft, 0.1F); - EXPECT_LT(distanceRight, 0.0F); // invalid + EXPECT_LT(distanceRight, 0.0F); // invalid // Obstacle bool obstacleLeft = roboid->perception->ObjectNearby(-30); @@ -171,8 +171,8 @@ TEST(BB2B, ObstacleLeft) { EXPECT_EQ(trackedObjectCount, 1); // Find the single tracked object - InterestingThing** trackedObjects = roboid->perception->GetTrackedObjects(); - InterestingThing* trackedObject = nullptr; + InterestingThing **trackedObjects = roboid->perception->GetTrackedObjects(); + InterestingThing *trackedObject = nullptr; for (int i = 0; i < roboid->perception->maxObjectCount; i++) { if (trackedObjects[i] != nullptr) trackedObject = trackedObjects[i]; @@ -194,7 +194,7 @@ TEST(BB2B, ObstacleLeft) { EXPECT_FLOAT_EQ(leftMotorSpeed, 1.0F); EXPECT_FLOAT_EQ(rightMotorSpeed, -1.0F); - DifferentialDrive* diffDrive = (DifferentialDrive*)roboid->propulsion; + DifferentialDrive *diffDrive = (DifferentialDrive *)roboid->propulsion; diffDrive->SetMotorTargetSpeeds(leftMotorSpeed, rightMotorSpeed); #pragma endregion @@ -209,11 +209,11 @@ TEST(BB2B, ObstacleLeft) { // Roboid 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); float angularVelocity = - diffDrive->GetAngularVelocity(); // this also depends on wheel separation + diffDrive->GetAngularVelocity(); // this also depends on wheel separation EXPECT_FLOAT_EQ(angularVelocity, 90.0F); #pragma endregion @@ -222,23 +222,23 @@ TEST(BB2B, ObstacleLeft) { TEST(BB2B, ObstacleRight) { #pragma region Setup - Motor* motorLeft = new Motor(); - Motor* motorRight = new Motor(); + Motor *motorLeft = new Motor(); + Motor *motorRight = new Motor(); - DifferentialDrive* propulsion = new DifferentialDrive(motorLeft, motorRight); + DifferentialDrive *propulsion = new DifferentialDrive(motorLeft, motorRight); propulsion->SetDimensions( 1 / Passer::LinearAlgebra::pi, // we use this, such that motor speed 1 -> // velocity 1 m/s - 8 / Passer::LinearAlgebra::pi); // we use this, such that angular - // velocity will be 90 degrees per - // second + 8 / Passer::LinearAlgebra::pi); // we use this, such that angular + // velocity will be 90 degrees per + // second - Roboid* roboid = new Roboid(propulsion); + Roboid *roboid = new Roboid(propulsion); - MockDistanceSensor* sensorLeft = new MockDistanceSensor(); + MockDistanceSensor *sensorLeft = new MockDistanceSensor(); sensorLeft->position.direction.horizontal = Angle16::Degrees(-30); roboid->AddChild(sensorLeft); - MockDistanceSensor* sensorRight = new MockDistanceSensor(); + MockDistanceSensor *sensorRight = new MockDistanceSensor(); sensorRight->SetParent(roboid); sensorRight->position.direction.horizontal = Angle16::Degrees(30); @@ -260,7 +260,7 @@ TEST(BB2B, ObstacleRight) { float distanceLeft = sensorLeft->GetDistance(); float distanceRight = sensorRight->GetDistance(); - EXPECT_LT(distanceLeft, 0.0F); // invalid + EXPECT_LT(distanceLeft, 0.0F); // invalid EXPECT_FLOAT_EQ(distanceRight, 0.1F); // Obstacle @@ -275,8 +275,8 @@ TEST(BB2B, ObstacleRight) { EXPECT_EQ(trackedObjectCount, 1); // Find the single tracked object - InterestingThing** trackedObjects = roboid->perception->GetTrackedObjects(); - InterestingThing* trackedObject = nullptr; + InterestingThing **trackedObjects = roboid->perception->GetTrackedObjects(); + InterestingThing *trackedObject = nullptr; for (int i = 0; i < roboid->perception->maxObjectCount; i++) { if (trackedObjects[i] != nullptr) trackedObject = trackedObjects[i]; @@ -298,7 +298,7 @@ TEST(BB2B, ObstacleRight) { EXPECT_FLOAT_EQ(leftMotorSpeed, -1.0F); EXPECT_FLOAT_EQ(rightMotorSpeed, 1.0F); - DifferentialDrive* diffDrive = (DifferentialDrive*)roboid->propulsion; + DifferentialDrive *diffDrive = (DifferentialDrive *)roboid->propulsion; diffDrive->SetMotorTargetSpeeds(leftMotorSpeed, rightMotorSpeed); #pragma endregion @@ -312,7 +312,7 @@ TEST(BB2B, ObstacleRight) { EXPECT_FLOAT_EQ(rightActualSpeed, 1.0F); // Roboid velocity - Polar velocity = diffDrive->GetVelocity(); + Spherical16 velocity = diffDrive->GetVelocity(); EXPECT_FLOAT_EQ(velocity.distance, 0.0F); float angularVelocity = diffDrive->GetAngularVelocity(); @@ -324,21 +324,21 @@ TEST(BB2B, ObstacleRight) { TEST(BB2B, ObstacleBoth) { #pragma region Setup - Motor* motorLeft = new Motor(); - Motor* motorRight = new Motor(); + Motor *motorLeft = new Motor(); + Motor *motorRight = new Motor(); - DifferentialDrive* propulsion = new DifferentialDrive(motorLeft, motorRight); + DifferentialDrive *propulsion = new DifferentialDrive(motorLeft, motorRight); propulsion->SetDimensions( 1 / Passer::LinearAlgebra::pi, // we use this, such that motor speed 1 -> // velocity 1 m/s - 8 / Passer::LinearAlgebra::pi); // we use this, such that angular - // velocity will be 90 degrees per second - Roboid* roboid = new Roboid(propulsion); + 8 / Passer::LinearAlgebra::pi); // we use this, such that angular + // velocity will be 90 degrees per second + Roboid *roboid = new Roboid(propulsion); - MockDistanceSensor* sensorLeft = new MockDistanceSensor(); + MockDistanceSensor *sensorLeft = new MockDistanceSensor(); sensorLeft->position.direction.horizontal = Angle16::Degrees(-30); roboid->AddChild(sensorLeft); - MockDistanceSensor* sensorRight = new MockDistanceSensor(); + MockDistanceSensor *sensorRight = new MockDistanceSensor(); sensorRight->SetParent(roboid); sensorRight->position.direction.horizontal = Angle16::Degrees(30); @@ -375,7 +375,7 @@ TEST(BB2B, ObstacleBoth) { EXPECT_EQ(trackedObjectCount, 2); // Find the single tracked object - InterestingThing** trackedObjects = roboid->perception->GetTrackedObjects(); + InterestingThing **trackedObjects = roboid->perception->GetTrackedObjects(); for (int i = 0; i < roboid->perception->maxObjectCount; i++) { if (trackedObjects[i] != nullptr) { EXPECT_FLOAT_EQ(trackedObjects[i]->position.distance, 0.1F); @@ -395,7 +395,7 @@ TEST(BB2B, ObstacleBoth) { EXPECT_FLOAT_EQ(leftMotorSpeed, -1.0F); EXPECT_FLOAT_EQ(rightMotorSpeed, -1.0F); - DifferentialDrive* diffDrive = (DifferentialDrive*)roboid->propulsion; + DifferentialDrive *diffDrive = (DifferentialDrive *)roboid->propulsion; diffDrive->SetMotorTargetSpeeds(leftMotorSpeed, rightMotorSpeed); #pragma endregion @@ -409,9 +409,9 @@ TEST(BB2B, ObstacleBoth) { EXPECT_FLOAT_EQ(rightActualSpeed, -1.0F); // Roboid velocity - Polar velocity = diffDrive->GetVelocity(); + Spherical velocity = diffDrive->GetVelocity(); EXPECT_FLOAT_EQ(velocity.distance, 1.0F); - EXPECT_FLOAT_EQ(velocity.angle.InDegrees(), -180.0F); + EXPECT_FLOAT_EQ(velocity.direction.horizontal.InDegrees(), -180.0F); float angularVelocity = diffDrive->GetAngularVelocity(); EXPECT_FLOAT_EQ(angularVelocity, 0.0F);