aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Math: added test for SCurve::calculate_path

Browse Source 
this was the values shown in the core dump for failing guided mode
test in CI
This commit is contained in:
Andrew Tridgell 2021-07-09 19:13:24 +10:00 committed by Randy Mackay
parent 498220b9f3
commit 75411afd21
1 changed files with 21 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
libraries/AP_Math/tests/test_scurve.cpp Normal file
View File

@ -0,0 +1,21 @@
#include <AP_gtest.h>
#include <AP_Math/AP_Math.h>
#include <AP_Math/vector2.h>
#include <AP_Math/vector3.h>
#include <AP_Math/SCurve.h>
TEST(LinesScurve, test_calculate_path)
{
float Jm_out, t2_out, t4_out, t6_out;
SCurve::calculate_path(0.300000012, 19.4233513, 0, 5.82700586, 188.354691, 2.09772229,
Jm_out, t2_out, t4_out, t6_out);
EXPECT_FLOAT_EQ(Jm_out, 19.423351);
EXPECT_FLOAT_EQ(t2_out, 0.0);
EXPECT_FLOAT_EQ(t4_out, 0.0);
EXPECT_FLOAT_EQ(t6_out, 0.0);
}
AP_GTEST_MAIN()
int hal = 0; //weirdly the build will fail without this