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motion_planning: remove deprecated separate test 

It's functionality probably broke already in
befbb6b106
and the tests are now covered by
VelocitySmoothingTest.cpp
This commit is contained in:
Matthias Grob 2023-11-21 16:40:25 +01:00
parent 53076b9863
commit efb325d25d
2 changed files with 0 additions and 111 deletions
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99
src/lib/motion_planning/test_velocity_smoothing.cpp
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@ -1,99 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Test code for the Velocity Smoothing library
* Build and run using: make && ./test_velocity_smoothing
*/
#include "VelocitySmoothing.hpp"
#include <cstdio>
#include <matrix/matrix/math.hpp>
int main(int argc, char *argv[])
{
VelocitySmoothing trajectory[3];
float a0[3] = {0.f, 0.f, 0.f};
float v0[3] = {0.f, 0.f, 0.f};
float x0[3] = {0.f, 0.f, 0.f};
float j_max = 55.2f;
float a_max = 6.f;
float v_max = 6.f;
for (int i = 0; i < 3; i++) {
trajectory[i].setMaxJerk(j_max);
trajectory[i].setMaxAccel(a_max);
trajectory[i].setMaxVel(v_max);
trajectory[i].setCurrentAcceleration(a0[i]);
trajectory[i].setCurrentVelocity(v0[i]);
}
const float dt = 0.01f;
float velocity_setpoint[3] = {1.f, 0.f, -1.f};
for (int i = 0; i < 3; i++) {
trajectory[i].updateDurations(velocity_setpoint[i]);
}
float t123 = trajectory[0].getTotalTime();
int nb_steps = ceil(t123 / dt);
printf("Nb steps = %d\n", nb_steps);
for (int i = 0; i < nb_steps; i++) {
for (int i = 0; i < 3; i++) {
trajectory[i].updateTraj(dt);
}
for (int i = 0; i < 3; i++) {
trajectory[i].updateDurations(velocity_setpoint[i]);
}
VelocitySmoothing::timeSynchronization(trajectory, 2);
for (int i = 0; i < 1; i++) {
printf("Traj[%d]\n", i);
printf("jerk = %.3f\taccel = %.3f\tvel = %.3f\tpos = %.3f\n",
trajectory[i].getCurrentJerk(),
trajectory[i].getCurrentAcceleration(),
trajectory[i].getCurrentVelocity(),
trajectory[i].getCurrentPosition());
printf("T1 = %.3f\tT2 = %.3f\tT3 = %.3f\n", trajectory[i].getT1(), trajectory[i].getT2(), trajectory[i].getT3());
printf("\n");
}
}
return 0;
}

12
src/modules/flight_mode_manager/tasks/Utility/Makefile
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.PHONY: all tests clean
all: test_velocity_smoothing
test_velocity_smoothing: test_velocity_smoothing.cpp VelocitySmoothing.cpp
@g++ $^ -std=c++11 -I ../../../ -o $@
tests: test_velocity_smoothing
@echo "Test velocity smoothing"
clean:
@rm test_velocity_smoothing