From f06eeb71ecf73eee56d79fed26a0b60435646ea9 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Thu, 22 Aug 2024 14:35:50 +0200
Subject: [PATCH] Fix unit tests

---
 LinearAlgebra     |  2 +-
 test/BB2B_Test.cc | 20 ++++++++++----------
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/LinearAlgebra b/LinearAlgebra
index 1da93ca..e10e010 160000
--- a/LinearAlgebra
+++ b/LinearAlgebra
@@ -1 +1 @@
-Subproject commit 1da93cac156d136db5097e49e12d1d09c20f0313
+Subproject commit e10e0100955f8f4dd139f52d71e37d6ace8c5fc0
diff --git a/test/BB2B_Test.cc b/test/BB2B_Test.cc
index b70f467..f8735b6 100644
--- a/test/BB2B_Test.cc
+++ b/test/BB2B_Test.cc
@@ -35,11 +35,11 @@ TEST(BB2B, NoObstacle) {
   Roboid* roboid = new Roboid(propulsion);
 
   MockDistanceSensor* sensorLeft = new MockDistanceSensor(10.0F);
-  sensorLeft->position.horizontalAngle = -30;
+  sensorLeft->position.horizontal = -30;
   roboid->AddChild(sensorLeft);
   MockDistanceSensor* sensorRight = new MockDistanceSensor(10.0F);
   sensorRight->SetParent(roboid);
-  sensorRight->position.horizontalAngle = 30;
+  sensorRight->position.horizontal = 30;
 
   roboid->perception->nearbyDistance = 0.2f;
 
@@ -132,11 +132,11 @@ TEST(BB2B, ObstacleLeft) {
   Roboid* roboid = new Roboid(propulsion);
 
   MockDistanceSensor* sensorLeft = new MockDistanceSensor();
-  sensorLeft->position.horizontalAngle = -30;
+  sensorLeft->position.horizontal = -30;
   roboid->AddChild(sensorLeft);
   MockDistanceSensor* sensorRight = new MockDistanceSensor();
   sensorRight->SetParent(roboid);
-  sensorRight->position.horizontalAngle = 30;
+  sensorRight->position.horizontal = 30;
 
   roboid->perception->nearbyDistance = 0.2f;
 
@@ -180,7 +180,7 @@ TEST(BB2B, ObstacleLeft) {
 
   ASSERT_FALSE(trackedObject == nullptr);
   EXPECT_FLOAT_EQ(trackedObject->position.distance, 0.1F);
-  EXPECT_FLOAT_EQ(trackedObject->position.horizontalAngle.ToFloat(), -30);
+  EXPECT_NEAR(trackedObject->position.horizontalAngle.ToFloat(), -30, 1.0e-02);
 
 #pragma endregion
 
@@ -235,11 +235,11 @@ TEST(BB2B, ObstacleRight) {
   Roboid* roboid = new Roboid(propulsion);
 
   MockDistanceSensor* sensorLeft = new MockDistanceSensor();
-  sensorLeft->position.horizontalAngle = -30;
+  sensorLeft->position.horizontal = -30;
   roboid->AddChild(sensorLeft);
   MockDistanceSensor* sensorRight = new MockDistanceSensor();
   sensorRight->SetParent(roboid);
-  sensorRight->position.horizontalAngle = 30;
+  sensorRight->position.horizontal = 30;
 
   roboid->perception->nearbyDistance = 0.2f;
 
@@ -283,7 +283,7 @@ TEST(BB2B, ObstacleRight) {
 
   ASSERT_FALSE(trackedObject == nullptr);
   EXPECT_FLOAT_EQ(trackedObject->position.distance, 0.1F);
-  EXPECT_FLOAT_EQ(trackedObject->position.horizontalAngle.ToFloat(), 30);
+  EXPECT_NEAR(trackedObject->position.horizontalAngle.ToFloat(), 30, 1.0e-02);
 
 #pragma endregion
 
@@ -334,11 +334,11 @@ TEST(BB2B, ObstacleBoth) {
   Roboid* roboid = new Roboid(propulsion);
 
   MockDistanceSensor* sensorLeft = new MockDistanceSensor();
-  sensorLeft->position.horizontalAngle = -30;
+  sensorLeft->position.horizontal = -30;
   roboid->AddChild(sensorLeft);
   MockDistanceSensor* sensorRight = new MockDistanceSensor();
   sensorRight->SetParent(roboid);
-  sensorRight->position.horizontalAngle = 30;
+  sensorRight->position.horizontal = 30;
 
   roboid->perception->nearbyDistance = 0.2f;