Skip to content
Snippets Groups Projects
Commit 90d1afb2 authored by Mirko Wächter's avatar Mirko Wächter
Browse files

fixed cspace test

parent 6c6761c0
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
MotionPlanning/tests/SabaCSpaceTest.cpp
+ 5
− 5
View file @ 90d1afb2
......@@ -30,7 +30,7 @@ BOOST_AUTO_TEST_CASE(testCSpace)
"<Robot Type='MyDemoRobotType' StandardName='ExampleRobo' RootNode='Joint1'>"
" <RobotNode name='Joint1'>"
" <Joint type='revolute'>"
" <Limits unit='degree' lo='-180' hi='180'/>"
" <Limits unit='degree' lo='-180' hi='180' limitless='true'/>"
" <Axis x='1' y='0' z='0'/>"
" </Joint>"
" </RobotNode>"
......@@ -84,7 +84,7 @@ BOOST_AUTO_TEST_CASE(testCSpace)
p1(0) = 0;
p2(0) = 0.5f;
d = cspace->interpolate(p1, p2, 0, 0);
BOOST_CHECK_CLOSE(d, 0.0f, 0.01f);
BOOST_CHECK_LT(std::abs(d), 0.01f);
d = cspace->interpolate(p1, p2, 0, 1);
BOOST_CHECK_CLOSE(d, 0.5f, 0.01f);
d = cspace->interpolate(p1, p2, 0, 0.5f);
......@@ -93,7 +93,7 @@ BOOST_AUTO_TEST_CASE(testCSpace)
p1(0) = 0;
p2(0) = -0.5f;
d = cspace->interpolate(p1, p2, 0, 0);
BOOST_CHECK_CLOSE(d, 0.0f, 0.01f);
BOOST_CHECK_LT(std::abs(d), 0.01f);
d = cspace->interpolate(p1, p2, 0, 1);
BOOST_CHECK_CLOSE(d, -0.5f, 0.01f);
d = cspace->interpolate(p1, p2, 0, 0.5f);
......@@ -106,7 +106,7 @@ BOOST_AUTO_TEST_CASE(testCSpace)
d = cspace->interpolate(p1, p2, 0, 1);
BOOST_CHECK_CLOSE(d, -0.5f, 0.01f);
d = cspace->interpolate(p1, p2, 0, 0.5f);
BOOST_CHECK_CLOSE(d, 0.0f, 0.01f);
BOOST_CHECK_LT(std::abs(d), 0.01f);
p1(0) = -0.5;
p2(0) = 0.5f;
......@@ -115,7 +115,7 @@ BOOST_AUTO_TEST_CASE(testCSpace)
d = cspace->interpolate(p1, p2, 0, 1);
BOOST_CHECK_CLOSE(d, 0.5f, 0.01f);
d = cspace->interpolate(p1, p2, 0, 0.5f);
BOOST_CHECK_CLOSE(d, 0.0f, 0.01f);
BOOST_CHECK_LT(std::abs(d), 0.01f);
// traverse border
p1(0) = -0.75f * (float)M_PI;
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment