tests.cpp File Reference

#include <chrono>
#include <fstream>
#include "gtest/gtest.h"
#include "inspection_node/inspection_ros.hpp"
#include "rclcpp/rclcpp.hpp"

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Functions
double	round (double number, int n)
	round to n decimal places
	TEST (STEERING, steering1)
	test steering output is sinusoidal
	TEST (TORQUE, torque1)
	test torque output control.
	TEST (TORQUE, torque2)
	test torque output control.
	TEST (TORQUE, torque3)
	test torque output control.
	TEST (TORQUE, torque4)
	test control while oscilating the goal velocity.
	TEST (CONVERSION, conversion1)
	test conversion from rpm to velocity with constants defined directly

Function Documentation

round()

double round	(	double	number,
		int	n
	)

round to n decimal places

Parameters

number	number to round
n	number of decimal places

Returns

double with n decimal places

Definition at line 17 of file tests.cpp.

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TEST() [1/6]

TEST	(	CONVERSION	,
		conversion1
	)

test conversion from rpm to velocity with constants defined directly

Definition at line 130 of file tests.cpp.

TEST() [2/6]

TEST	(	STEERING	,
		steering1
	)

test steering output is sinusoidal

Definition at line 27 of file tests.cpp.

TEST() [3/6]

TEST	(	TORQUE	,
		torque1
	)

test torque output control.

Initial velocity greater than target.

Definition at line 41 of file tests.cpp.

TEST() [4/6]

TEST	(	TORQUE	,
		torque2
	)

test torque output control.

Initial velocity smaller than target.

Definition at line 56 of file tests.cpp.

TEST() [5/6]

TEST	(	TORQUE	,
		torque3
	)

test torque output control.

Initial velocity similar to ideal velocity.

Definition at line 71 of file tests.cpp.

TEST() [6/6]

TEST	(	TORQUE	,
		torque4
	)

test control while oscilating the goal velocity.

Definition at line 86 of file tests.cpp.