From 90d1afb26f1f4991ac2e6522dccaf1e70dc6da4f Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Sun, 21 Oct 2018 15:17:52 +0200
Subject: [PATCH] fixed cspace test
---
MotionPlanning/tests/SabaCSpaceTest.cpp | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/MotionPlanning/tests/SabaCSpaceTest.cpp b/MotionPlanning/tests/SabaCSpaceTest.cpp
index 2769a157c..2fa0d04c6 100644
--- a/MotionPlanning/tests/SabaCSpaceTest.cpp
+++ b/MotionPlanning/tests/SabaCSpaceTest.cpp
@@ -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;
--
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