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VelocitySmoothingTest - Test that the trajectory is always within the constraints

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bresch
2019-09-17 09:27:00 +02:00
committed by Matthias Grob
parent 8cc2a7018e
commit 862454827e
1 changed files with 3 additions and 0 deletions
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src/lib/FlightTasks/tasks/Utility/VelocitySmoothingTest.cpp
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@@ -75,6 +75,9 @@ void VelocitySmoothingTest::updateTrajectories(float dt, Vector3f velocity_setpo
{
for (int i = 0; i < 3; i++) {
_trajectories[i].updateTraj(dt);
EXPECT_LE(fabsf(_trajectories[i].getCurrentJerk()), _trajectories[i].getMaxJerk());
EXPECT_LE(fabsf(_trajectories[i].getCurrentAcceleration()), _trajectories[i].getMaxAccel());
EXPECT_LE(fabsf(_trajectories[i].getCurrentVelocity()), _trajectories[i].getMaxVel());
}
for (int i = 0; i < 3; i++) {