bicycle_model_test.cpp File Reference

#include "motion_lib/s2v_model/bicycle_model.hpp"
#include <gtest/gtest.h>
#include <cmath>

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Functions
	TEST (ODOMETRY_SUBSCRIBER, CONVERSION_TEST)
	Tests the conversion from wheel revolutions to velocities using the bycicle model.
	TEST (BicycleModelTest, TestCgVelocityToWheels)
	Test a regular case of the conversion from wheel velocities to cg velocities.
	TEST (BicycleModelTest, TestCgVelocityToWheelsNegativeVx)
	Test the conversion from cg velocities to wheel velocities when the velocity in x is negative (the car is moving backwards)
	TEST (BicycleModelTest, TestCgVelocityToWheelsZeroVx)
	Test the conversion from cg velocities to wheel velocities when the velocity in x is null and the other velocities are negative.
	TEST (BicycleModelTest, TestCgVelocityToWheelsZeroVy)
	Test the conversion from cg velocities to wheel velocities when the velocities are null.
	TEST (BicycleModelTest, TestJacobianCgVelocityToWheels)
	Test the jacobian of the conversion from cg velocities to wheel velocities with regular values of the velocities.
	TEST (BicycleModelTest, 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() [1/7]

TEST	(	BicycleModelTest	,
		TestCgVelocityToWheels
	)

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

Definition at line 59 of file bicycle_model_test.cpp.

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TEST() [2/7]

TEST	(	BicycleModelTest	,
		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 84 of file bicycle_model_test.cpp.

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TEST() [3/7]

TEST	(	BicycleModelTest	,
		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 110 of file bicycle_model_test.cpp.

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TEST() [4/7]

TEST	(	BicycleModelTest	,
		TestCgVelocityToWheelsZeroVy
	)

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

Definition at line 136 of file bicycle_model_test.cpp.

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TEST() [5/7]

TEST	(	BicycleModelTest	,
		TestJacobianCgVelocityToWheels
	)

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

Definition at line 162 of file bicycle_model_test.cpp.

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TEST() [6/7]

TEST	(	BicycleModelTest	,
		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 209 of file bicycle_model_test.cpp.

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TEST() [7/7]

TEST	(	ODOMETRY_SUBSCRIBER	,
		CONVERSION_TEST
	)

Tests the conversion from wheel revolutions to velocities using the bycicle model.

Definition at line 14 of file bicycle_model_test.cpp.

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