RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Fix unit tests

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This commit is contained in:
Pascal Serrarens 2024-08-22 14:35:50 +02:00
parent b9ee5ff9dd
commit f06eeb71ec
2 changed files with 11 additions and 11 deletions
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2
LinearAlgebra

@ -1 +1 @@
Subproject commit 1da93cac156d136db5097e49e12d1d09c20f0313 Subproject commit e10e0100955f8f4dd139f52d71e37d6ace8c5fc0

20
test/BB2B_Test.cc
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@ -35,11 +35,11 @@ TEST(BB2B, NoObstacle) {
Roboid* roboid = new Roboid(propulsion); Roboid* roboid = new Roboid(propulsion);
MockDistanceSensor* sensorLeft = new MockDistanceSensor(10.0F); MockDistanceSensor* sensorLeft = new MockDistanceSensor(10.0F);
sensorLeft->position.horizontalAngle = -30; sensorLeft->position.horizontal = -30;
roboid->AddChild(sensorLeft); roboid->AddChild(sensorLeft);
MockDistanceSensor* sensorRight = new MockDistanceSensor(10.0F); MockDistanceSensor* sensorRight = new MockDistanceSensor(10.0F);
sensorRight->SetParent(roboid); sensorRight->SetParent(roboid);
sensorRight->position.horizontalAngle = 30; sensorRight->position.horizontal = 30;
roboid->perception->nearbyDistance = 0.2f; roboid->perception->nearbyDistance = 0.2f;
@ -132,11 +132,11 @@ TEST(BB2B, ObstacleLeft) {
Roboid* roboid = new Roboid(propulsion); Roboid* roboid = new Roboid(propulsion);
MockDistanceSensor* sensorLeft = new MockDistanceSensor(); MockDistanceSensor* sensorLeft = new MockDistanceSensor();
sensorLeft->position.horizontalAngle = -30; sensorLeft->position.horizontal = -30;
roboid->AddChild(sensorLeft); roboid->AddChild(sensorLeft);
MockDistanceSensor* sensorRight = new MockDistanceSensor(); MockDistanceSensor* sensorRight = new MockDistanceSensor();
sensorRight->SetParent(roboid); sensorRight->SetParent(roboid);
sensorRight->position.horizontalAngle = 30; sensorRight->position.horizontal = 30;
roboid->perception->nearbyDistance = 0.2f; roboid->perception->nearbyDistance = 0.2f;
@ -180,7 +180,7 @@ TEST(BB2B, ObstacleLeft) {
ASSERT_FALSE(trackedObject == nullptr); ASSERT_FALSE(trackedObject == nullptr);
EXPECT_FLOAT_EQ(trackedObject->position.distance, 0.1F); 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 #pragma endregion
@ -235,11 +235,11 @@ TEST(BB2B, ObstacleRight) {
Roboid* roboid = new Roboid(propulsion); Roboid* roboid = new Roboid(propulsion);
MockDistanceSensor* sensorLeft = new MockDistanceSensor(); MockDistanceSensor* sensorLeft = new MockDistanceSensor();
sensorLeft->position.horizontalAngle = -30; sensorLeft->position.horizontal = -30;
roboid->AddChild(sensorLeft); roboid->AddChild(sensorLeft);
MockDistanceSensor* sensorRight = new MockDistanceSensor(); MockDistanceSensor* sensorRight = new MockDistanceSensor();
sensorRight->SetParent(roboid); sensorRight->SetParent(roboid);
sensorRight->position.horizontalAngle = 30; sensorRight->position.horizontal = 30;
roboid->perception->nearbyDistance = 0.2f; roboid->perception->nearbyDistance = 0.2f;
@ -283,7 +283,7 @@ TEST(BB2B, ObstacleRight) {
ASSERT_FALSE(trackedObject == nullptr); ASSERT_FALSE(trackedObject == nullptr);
EXPECT_FLOAT_EQ(trackedObject->position.distance, 0.1F); 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 #pragma endregion
@ -334,11 +334,11 @@ TEST(BB2B, ObstacleBoth) {
Roboid* roboid = new Roboid(propulsion); Roboid* roboid = new Roboid(propulsion);
MockDistanceSensor* sensorLeft = new MockDistanceSensor(); MockDistanceSensor* sensorLeft = new MockDistanceSensor();
sensorLeft->position.horizontalAngle = -30; sensorLeft->position.horizontal = -30;
roboid->AddChild(sensorLeft); roboid->AddChild(sensorLeft);
MockDistanceSensor* sensorRight = new MockDistanceSensor(); MockDistanceSensor* sensorRight = new MockDistanceSensor();
sensorRight->SetParent(roboid); sensorRight->SetParent(roboid);
sensorRight->position.horizontalAngle = 30; sensorRight->position.horizontal = 30;
roboid->perception->nearbyDistance = 0.2f; roboid->perception->nearbyDistance = 0.2f;