no_slip_bicycle_model_test.cpp File Reference

#include "perception_sensor_lib/observation_model/ve/no_slip_bicycle_model.hpp"
#include <gtest/gtest.h>
#include <cmath>

Include dependency graph for no_slip_bicycle_model_test.cpp:

Go to the source code of this file.

Functions
	TEST (NoSlipBicycleModelTest, TestCgVelocityToWheels)
	Test a regular case of the conversion from wheel velocities to cg velocities.
	TEST (NoSlipBicycleModelTest, TestCgVelocityToWheelsNegativeVx)
	Test the conversion from cg velocities to wheel velocities when the velocity in x is negative (the car is moving backwards)
	TEST (NoSlipBicycleModelTest, TestCgVelocityToWheelsZeroVx)
	Test the conversion from cg velocities to wheel velocities when the velocity in x is null and the other velocities are negative.
	TEST (NoSlipBicycleModelTest, TestCgVelocityToWheelsZeroVy)
	Test the conversion from cg velocities to wheel velocities when the velocities are null.
	TEST (NoSlipBicycleModelTest, TestJacobianCgVelocityToWheels)
	Test the jacobian of the conversion from cg velocities to wheel velocities with regular values of the velocities.
	TEST (NoSlipBicycleModelTest, TestJacobianCgVelocityToWheelsZeroVy)
	Test the jacobian of the conversion from cg velocities to wheel velocities when the velocity in x is negative (the car is moving backwards), the velocity in y is null and the angular velocity is negative.

Function Documentation

TEST() [1/6]

TEST	(	NoSlipBicycleModelTest	,
		TestCgVelocityToWheels
	)

Test a regular case of the conversion from wheel velocities to cg velocities.

Definition at line 13 of file no_slip_bicycle_model_test.cpp.

Here is the call graph for this function:

TEST() [2/6]

TEST	(	NoSlipBicycleModelTest	,
		TestCgVelocityToWheelsNegativeVx
	)

Test the conversion from cg velocities to wheel velocities when the velocity in x is negative (the car is moving backwards)

Definition at line 38 of file no_slip_bicycle_model_test.cpp.

Here is the call graph for this function:

TEST() [3/6]

TEST	(	NoSlipBicycleModelTest	,
		TestCgVelocityToWheelsZeroVx
	)

Test the conversion from cg velocities to wheel velocities when the velocity in x is null and the other velocities are negative.

Definition at line 64 of file no_slip_bicycle_model_test.cpp.

Here is the call graph for this function:

TEST() [4/6]

TEST	(	NoSlipBicycleModelTest	,
		TestCgVelocityToWheelsZeroVy
	)

Test the conversion from cg velocities to wheel velocities when the velocities are null.

Definition at line 90 of file no_slip_bicycle_model_test.cpp.

Here is the call graph for this function:

TEST() [5/6]

TEST	(	NoSlipBicycleModelTest	,
		TestJacobianCgVelocityToWheels
	)

Test the jacobian of the conversion from cg velocities to wheel velocities with regular values of the velocities.

Definition at line 116 of file no_slip_bicycle_model_test.cpp.

Here is the call graph for this function:

TEST() [6/6]

TEST	(	NoSlipBicycleModelTest	,
		TestJacobianCgVelocityToWheelsZeroVy
	)

Test the jacobian of the conversion from cg velocities to wheel velocities when the velocity in x is negative (the car is moving backwards), the velocity in y is null and the angular velocity is negative.

Definition at line 163 of file no_slip_bicycle_model_test.cpp.

Here is the call graph for this function: