splines_tests.cpp

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#include "test_utils/utils.hpp"
 
TEST(Splines, spline1) {
  std::vector<PathPoint> cones;
  for (int i = 0; i < 10; i++) {
    PathPoint c;
    c.position.x = i;
    c.position.y = i;
    cones.push_back(c);
  }
  std::vector<PathPoint> vector2 = ::fit_spline(cones, 1, 3, 3.0);
  for (int i = 0; i < 9; i++) {
    EXPECT_LE(fabs(vector2[i].position.x - i), 0.1);
    EXPECT_LE(fabs(vector2[i].position.y - i), 0.1);
  }
}
 
TEST(Splines, spline2) {
  std::vector<Cone> cones;
  for (int i = 0; i < 10; i++) {
    Cone c;
    c.position.x = i;
    c.position.y = i;
    cones.push_back(c);
  }
  std::vector<Cone> vector2 = ::fit_spline(cones, 1, 3, 3.0);
  for (int i = 0; i < 9; i++) {
    EXPECT_LE(fabs(vector2[i].position.x - i), 0.1);
    EXPECT_LE(fabs(vector2[i].position.y - i), 0.1);
  }
}