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PositionControlTest: Additional test case velocity setpoint with invalid states (#25286)

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This commit is contained in:
Matthias Grob
2025-07-25 09:04:56 +02:00
committed by GitHub
parent 4117aa5bd3
commit 539ef8b0d1
1 changed files with 41 additions and 2 deletions
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src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
+41 -2
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@@ -316,23 +316,62 @@ TEST_F(PositionControlBasicTest, SetpointValidityAllCombinations)
}
}
TEST_F(PositionControlBasicTest, InvalidState)
TEST_F(PositionControlBasicTest, PositionSetpointInvalidState)
{
Vector3f(.1f, .2f, .3f).copyTo(_input_setpoint.position);
Vector3f(.1f, .2f, .3f).copyTo(_input_setpoint.position); // Position setpoint
// All states valid - ok
PositionControlStates states{};
_position_control.setState(states);
EXPECT_TRUE(runController());
// Position invalid
states.position(0) = NAN;
_position_control.setState(states);
EXPECT_FALSE(runController());
// Position and velocity invalid
states.velocity(0) = NAN;
_position_control.setState(states);
EXPECT_FALSE(runController());
// Velocity invalid
states.position(0) = 0.f;
_position_control.setState(states);
EXPECT_FALSE(runController());
// Velocity derivative invalid
states.velocity(0) = 0.f;
states.acceleration(1) = NAN;
_position_control.setState(states);
EXPECT_FALSE(runController());
}
TEST_F(PositionControlBasicTest, VelocitySetpointInvalidState)
{
Vector3f(.1f, .2f, .3f).copyTo(_input_setpoint.velocity); // Velocity setpoint
// All states valid - ok
PositionControlStates states{};
_position_control.setState(states);
EXPECT_TRUE(runController());
// Position invalid - ok
states.position(0) = NAN;
_position_control.setState(states);
EXPECT_TRUE(runController());
// Position and velocity invalid
states.velocity(0) = NAN;
_position_control.setState(states);
EXPECT_FALSE(runController());
// Velocity invalid
states.position(0) = 0.f;
_position_control.setState(states);
EXPECT_FALSE(runController());
// Velocity derivative invalid
states.velocity(0) = 0.f;
states.acceleration(1) = NAN;
_position_control.setState(states);