Improve the C++ libcdd wrapper
* Tests!
* It now pre-calculates vertices, because we always do that at least
once and it makes the next thing easier.
* Support directly transforming vertices in the form the control loops
do to avoid libcdd weirdness with some transformed ones.
* Drop broken error-handling which just resulted in an Eigen assertion
instead of actually printing out the error.
Change-Id: I2b184011d78b7479d5c14409b946a5f0b1c2bf3c
diff --git a/aos/common/controls/BUILD b/aos/common/controls/BUILD
index 5bb31fb..9cc6f31 100644
--- a/aos/common/controls/BUILD
+++ b/aos/common/controls/BUILD
@@ -40,6 +40,22 @@
deps = [
'//third_party/eigen',
'//third_party/cddlib',
+ '//aos/common/logging',
+ '//aos/common/logging:matrix_logging',
+ ],
+)
+
+cc_test(
+ name = 'polytope_test',
+ srcs = [
+ 'polytope_test.cc',
+ ],
+ deps = [
+ ':polytope',
+ '//aos/testing:googletest',
+ '//third_party/eigen',
+ '//third_party/googletest:googlemock',
+ '//aos/testing:test_logging',
],
)