RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Fix test

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This commit is contained in:
Pascal Serrarens 2024-11-15 15:09:13 +01:00
parent 4b21057fdd
commit c4d0ef95cf
1 changed files with 59 additions and 59 deletions
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10
test/BB2B_Test.cc
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@ -97,10 +97,10 @@ TEST(BB2B, NoObstacle) {
EXPECT_FLOAT_EQ(leftActualSpeed, 1.0F);
EXPECT_FLOAT_EQ(rightActualSpeed, 1.0F);
Polar velocity =
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);
@ -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();
@ -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);