constant_velocity_turnrate_model_test.cpp File Reference

#include "motion_lib/v2p_models/constant_velocity_turnrate_model.hpp"
#include <gtest/gtest.h>
#include <cmath>

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Functions
	TEST (CONSTANT_VELOCITY_TURNRATE_MODEL, STRAIGHT_LINE_MOVEMENT_TEST_1)
	Test the constant velocity and turnrate model with a straight line movement in the x axis.
	TEST (CONSTANT_VELOCITY_TURNRATE_MODEL, STRAIGHT_LINE_MOVEMENT_TEST_2)
	Test the constant velocity and turnrate model with a straight line movement in the x axis.
	TEST (CONSTANT_VELOCITY_TURNRATE_MODEL, BACKWARDS_MOVEMENT_TEST_1)
	Test the constant velocity and turnrate model with a backwards movement in the x axis - negative vx.
	TEST (CONSTANT_VELOCITY_TURNRATE_MODEL, BACKWARDS_MOVEMENT_TEST_2)
	Test the constant velocity and turnrate model with a backwards movement in the x axis - positive vx (paradox)
	TEST (CONSTANT_VELOCITY_TURNRATE_MODEL, BACKWARDS_MOVEMENT_TEST_3)
	Test the constant velocity and turnrate model with a backwards movement in the x axis - negative vy (paradox)
	TEST (CONSTANT_VELOCITY_TURNRATE_MODEL, ORIENTATION_ANGLE_CAP_TEST_1)
	Test the constant velocity and turnrate model for angle cap on the orientation update - 2PI.
	TEST (CONSTANT_VELOCITY_TURNRATE_MODEL, ORIENTATION_ANGLE_CAP_TEST_2)
	Test the constant velocity and turnrate model for angle cap on the orientation update - 3PI.
	TEST (CONSTANT_VELOCITY_TURNRATE_MODEL, ORIENTATION_ANGLE_CAP_TEST_3)
	Test the constant velocity and turnrate model for angle cap on the orientation update - -3PI.
	TEST (CONSTANT_VELOCITY_TURNRATE_MODEL, ORIENTATION_ANGLE_CAP_TEST_4)
	Test the constant velocity and turnrate model for angle cap on the orientation update - 3PI/2.
	TEST (CONSTANT_VELOCITY_TURNRATE_MODEL, ORIENTATION_ANGLE_CAP_TEST_5)
	Test the constant velocity and turnrate model for angle cap on the orientation update - -5PI/2.
	TEST (CONSTANT_VELOCITY_TURNRATE_MODEL, CURVILINEAR_MOVEMENT_TEST_1)
	Test the constant velocity and turnrate model in a curvilinear movement with a non-zero orientation.
	TEST (CONSTANT_VELOCITY_TURNRATE_MODEL, CURVILINEAR_MOVEMENT_TEST_2)
	Test the constant velocity and turnrate model in a curvilinear movement with a negative orientation.
	TEST (CONSTANT_VELOCITY_TURNRATE_MODEL, CURVILINEAR_MOVEMENT_TEST_3)
	Test the constant velocity and turnrate model in a straight line movement with a perpendicular orientation.

Function Documentation

TEST() [1/13]

TEST	(	CONSTANT_VELOCITY_TURNRATE_MODEL	,
		BACKWARDS_MOVEMENT_TEST_1
	)

Test the constant velocity and turnrate model with a backwards movement in the x axis - negative vx.

Definition at line 71 of file constant_velocity_turnrate_model_test.cpp.

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TEST() [2/13]

TEST	(	CONSTANT_VELOCITY_TURNRATE_MODEL	,
		BACKWARDS_MOVEMENT_TEST_2
	)

Test the constant velocity and turnrate model with a backwards movement in the x axis - positive vx (paradox)

Definition at line 101 of file constant_velocity_turnrate_model_test.cpp.

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TEST() [3/13]

TEST	(	CONSTANT_VELOCITY_TURNRATE_MODEL	,
		BACKWARDS_MOVEMENT_TEST_3
	)

Test the constant velocity and turnrate model with a backwards movement in the x axis - negative vy (paradox)

Definition at line 131 of file constant_velocity_turnrate_model_test.cpp.

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TEST() [4/13]

TEST	(	CONSTANT_VELOCITY_TURNRATE_MODEL	,
		CURVILINEAR_MOVEMENT_TEST_1
	)

Test the constant velocity and turnrate model in a curvilinear movement with a non-zero orientation.

Definition at line 311 of file constant_velocity_turnrate_model_test.cpp.

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TEST() [5/13]

TEST	(	CONSTANT_VELOCITY_TURNRATE_MODEL	,
		CURVILINEAR_MOVEMENT_TEST_2
	)

Test the constant velocity and turnrate model in a curvilinear movement with a negative orientation.

Definition at line 341 of file constant_velocity_turnrate_model_test.cpp.

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TEST() [6/13]

TEST	(	CONSTANT_VELOCITY_TURNRATE_MODEL	,
		CURVILINEAR_MOVEMENT_TEST_3
	)

Test the constant velocity and turnrate model in a straight line movement with a perpendicular orientation.

Definition at line 371 of file constant_velocity_turnrate_model_test.cpp.

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TEST() [7/13]

TEST	(	CONSTANT_VELOCITY_TURNRATE_MODEL	,
		ORIENTATION_ANGLE_CAP_TEST_1
	)

Test the constant velocity and turnrate model for angle cap on the orientation update - 2PI.

Definition at line 161 of file constant_velocity_turnrate_model_test.cpp.

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TEST() [8/13]

TEST	(	CONSTANT_VELOCITY_TURNRATE_MODEL	,
		ORIENTATION_ANGLE_CAP_TEST_2
	)

Test the constant velocity and turnrate model for angle cap on the orientation update - 3PI.

Definition at line 191 of file constant_velocity_turnrate_model_test.cpp.

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TEST() [9/13]

TEST	(	CONSTANT_VELOCITY_TURNRATE_MODEL	,
		ORIENTATION_ANGLE_CAP_TEST_3
	)

Test the constant velocity and turnrate model for angle cap on the orientation update - -3PI.

Definition at line 221 of file constant_velocity_turnrate_model_test.cpp.

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TEST() [10/13]

TEST	(	CONSTANT_VELOCITY_TURNRATE_MODEL	,
		ORIENTATION_ANGLE_CAP_TEST_4
	)

Test the constant velocity and turnrate model for angle cap on the orientation update - 3PI/2.

Definition at line 251 of file constant_velocity_turnrate_model_test.cpp.

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TEST() [11/13]

TEST	(	CONSTANT_VELOCITY_TURNRATE_MODEL	,
		ORIENTATION_ANGLE_CAP_TEST_5
	)

Test the constant velocity and turnrate model for angle cap on the orientation update - -5PI/2.

Definition at line 281 of file constant_velocity_turnrate_model_test.cpp.

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TEST() [12/13]

TEST	(	CONSTANT_VELOCITY_TURNRATE_MODEL	,
		STRAIGHT_LINE_MOVEMENT_TEST_1
	)

Test the constant velocity and turnrate model with a straight line movement in the x axis.

• positive vx

Definition at line 11 of file constant_velocity_turnrate_model_test.cpp.

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TEST() [13/13]

TEST	(	CONSTANT_VELOCITY_TURNRATE_MODEL	,
		STRAIGHT_LINE_MOVEMENT_TEST_2
	)

Test the constant velocity and turnrate model with a straight line movement in the x axis.

• positive vx

Definition at line 41 of file constant_velocity_turnrate_model_test.cpp.

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