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test_controlmath rebase fix: EPS to FLT_EPSILON

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Dennis Mannhart 2018-04-11 08:51:39 +02:00 committed by Lorenz Meier
parent caa773008a
commit 6cfb89a8e8
1 changed files with 7 additions and 7 deletions
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14
src/modules/mc_pos_control/mc_pos_control_tests/test_controlmath.cpp
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@ -70,29 +70,29 @@ bool ControlMathTest::testPrioritizeVector()
matrix::Vector2f v0(max, 0);
matrix::Vector2f v1(v0(1), -v0(0));
matrix::Vector2f v_r = ControlMath::constrainXY(v0, v1, max);
ut_assert_true(fabsf(v_r(0)) - max < EPS && v_r(0) > 0.0f);
ut_assert_true(fabsf(v_r(1) - 0.0f) < EPS);
ut_assert_true(fabsf(v_r(0)) - max < FLT_EPSILON && v_r(0) > 0.0f);
ut_assert_true(fabsf(v_r(1) - 0.0f) < FLT_EPSILON);
// v1 exceeds max but v0 is zero
v0.zero();
v_r = ControlMath::constrainXY(v0, v1, max);
ut_assert_true(fabsf(v_r(1)) - max < EPS && v_r(1) < 0.0f);
ut_assert_true(fabsf(v_r(0) - 0.0f) < EPS);
ut_assert_true(fabsf(v_r(1)) - max < FLT_EPSILON && v_r(1) < 0.0f);
ut_assert_true(fabsf(v_r(0) - 0.0f) < FLT_EPSILON);
// v0 and v1 are below max
v0 = matrix::Vector2f(0.5f, 0.5f);
v1 = matrix::Vector2f(v0(1), -v0(0));
v_r = ControlMath::constrainXY(v0, v1, max);
float diff = matrix::Vector2f(v_r - (v0 + v1)).length();
ut_assert_true(diff < EPS);
ut_assert_true(diff < FLT_EPSILON);
// v0 and v1 exceed max and are perpendicular
v0 = matrix::Vector2f(4.0f, 0.0f);
v1 = matrix::Vector2f(0.0f, -4.0f);
v_r = ControlMath::constrainXY(v0, v1, max);
ut_assert_true(v_r(0) - v0(0) < EPS && v_r(0) > 0.0f);
ut_assert_true(v_r(0) - v0(0) < FLT_EPSILON && v_r(0) > 0.0f);
float remaining = sqrtf(max * max - (v0(0) * v0(0)));
ut_assert_true(fabsf(v_r(1)) - remaining < EPS && v_r(1) < EPS);
ut_assert_true(fabsf(v_r(1)) - remaining < FLT_EPSILON && v_r(1) < FLT_EPSILON);
//TODO: add more tests with vectors not perpendicular