| Austin Schuh | 4fae0fc | 2018-03-27 23:51:42 -0700 | [diff] [blame] | 1 | #include "motors/seems_reasonable/spring.h" |
| 2 | |
| 3 | #include "gtest/gtest.h" |
| 4 | |
| Stephan Pleines | f63bde8 | 2024-01-13 15:59:33 -0800 | [diff] [blame^] | 5 | namespace motors::seems_reasonable::testing { |
| Austin Schuh | 4fae0fc | 2018-03-27 23:51:42 -0700 | [diff] [blame] | 6 | |
| 7 | // Tests that NextGoal always returns the next goal. |
| 8 | TEST(GoalTest, TestNextGoal) { |
| 9 | EXPECT_NEAR(1.0, NextGoal(0.0, 1.0), 1e-6); |
| 10 | |
| 11 | EXPECT_NEAR(2.0 * M_PI + 1.0, NextGoal(1.1, 1.0), 1e-6); |
| 12 | |
| 13 | EXPECT_NEAR(6.0 * M_PI + 1.0, NextGoal(1.1 + 4.0 * M_PI, 1.0), 1e-6); |
| 14 | |
| 15 | EXPECT_NEAR(2.0 * M_PI + 1.0, NextGoal(1.0, 1.0), 1e-6); |
| 16 | |
| 17 | EXPECT_NEAR(2.0 * M_PI + 6.0, NextGoal(6.1, 6.0), 1e-6); |
| 18 | } |
| 19 | |
| 20 | // Tests that PreviousGoal always returns the previous goal. |
| 21 | TEST(GoalTest, TestPreviousGoal) { |
| 22 | EXPECT_NEAR(-2.0 * M_PI + 1.0, PreviousGoal(0.0, 1.0), 1e-6); |
| 23 | |
| 24 | EXPECT_NEAR(1.0, PreviousGoal(1.1, 1.0), 1e-6); |
| 25 | |
| 26 | EXPECT_NEAR(4.0 * M_PI + 1.0, PreviousGoal(1.1 + 4.0 * M_PI, 1.0), 1e-6); |
| 27 | |
| 28 | EXPECT_NEAR(-2.0 * M_PI + 1.0, PreviousGoal(1.0, 1.0), 1e-6); |
| 29 | } |
| 30 | |
| Stephan Pleines | f63bde8 | 2024-01-13 15:59:33 -0800 | [diff] [blame^] | 31 | } // namespace motors::seems_reasonable::testing |