Unit test for jerk-limited trajectory generator #12775
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jkflying
requested changes
Aug 22, 2019
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Looks great, some small changes.
Also as a style thing, to me it isn't always exactly obvious (in the first 3 seconds) where the setup ends, where the code you want tested is, and where you are verifying results. It might be a bit easier to read if you can make them a bit more separated eg. with GIVEN, WHEN, THEN comments, or just leave whitespace in between. Not critical though.
| public: | ||
| void SetUp() override | ||
| { | ||
| return; |
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if you don't need any setup you can just delete this function
| float dt = 0.01f; | ||
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| // Run a few times the algorithm | ||
| updateTrajectories(velocity_setpoints, dt); |
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You're doing it in the loop, so I don't think you need another one here?
julianoes
reviewed
Aug 22, 2019
| // bit more time than the predicted one, this is why we have to add 14 steps | ||
| // to the theoretical value | ||
| float t123 = _trajectories[0].getTotalTime(); | ||
| float nb_steps = ceilf(t123 / dt) + 14; |
bresch
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@jkflying , @julianoes Thanks for the review. I improved the PR, can you review again please? |
jkflying
previously approved these changes
Aug 28, 2019
…stead of ceilf and remove line duplicate
…ecks into two different test functions Also improve the comments
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First quick implementation of some tests for for the jerk-limited trajectory generator implemented in the VelocitySmoothing class.