Add types to targets and ignore rocket portals
This also adds a "radius" to individual targets to allow us to
conceptualize the edge of the velcro for the hatch targets.
Change-Id: Ic6081c3eca784328f80fe83ab799efe90c0d50b0
diff --git a/y2019/control_loops/drivetrain/camera_test.cc b/y2019/control_loops/drivetrain/camera_test.cc
index d0a4b85..347e84c 100644
--- a/y2019/control_loops/drivetrain/camera_test.cc
+++ b/y2019/control_loops/drivetrain/camera_test.cc
@@ -8,12 +8,14 @@
// Check that a Target's basic operations work.
TEST(TargetTest, BasicTargetTest) {
- Target target({{1, 2, 3}, M_PI / 2.0});
+ Target target({{1, 2, 3}, M_PI / 2.0}, 1.234, Target::GoalType::kHatches);
EXPECT_EQ(1.0, target.pose().abs_pos().x());
EXPECT_EQ(2.0, target.pose().abs_pos().y());
EXPECT_EQ(3.0, target.pose().abs_pos().z());
EXPECT_EQ(M_PI / 2.0, target.pose().abs_theta());
+ EXPECT_EQ(1.234, target.radius());
+ EXPECT_EQ(Target::GoalType::kHatches, target.goal_type());
EXPECT_FALSE(target.occluded());
target.set_occluded(true);