Updated dynamics tests

f1tenth · Sep 23, 2024 · dc91a46 · dc91a46
1 parent 9b173e6
commit dc91a46
Showing 1 changed file with 37 additions and 32 deletions.
diff --git a/tests/test_dynamics.py b/tests/test_dynamics.py
@@ -28,6 +28,7 @@
     vehicle_dynamics_st,
 )
 
+
 def func_KS(
     x,
     t,
@@ -52,22 +53,24 @@ def func_KS(
     f = vehicle_dynamics_ks(
         x,
         u,
-        mu,
-        C_Sf,
-        C_Sr,
-        lf,
-        lr,
-        h,
-        m,
-        I,
-        s_min,
-        s_max,
-        sv_min,
-        sv_max,
-        v_switch,
-        a_max,
-        v_min,
-        v_max,
+        params={
+            "mu": mu,
+            "C_Sf": C_Sf,
+            "C_Sr": C_Sr,
+            "lf": lf,
+            "lr": lr,
+            "h": h,
+            "m": m,
+            "I": I,
+            "s_min": s_min,
+            "s_max": s_max,
+            "sv_min": sv_min,
+            "sv_max": sv_max,
+            "v_switch": v_switch,
+            "a_max": a_max,
+            "v_min": v_min,
+            "v_max": v_max,
+        },
     )
     return f
 
@@ -96,22 +99,24 @@ def func_ST(
     f = vehicle_dynamics_st(
         x,
         u,
-        mu,
-        C_Sf,
-        C_Sr,
-        lf,
-        lr,
-        h,
-        m,
-        I,
-        s_min,
-        s_max,
-        sv_min,
-        sv_max,
-        v_switch,
-        a_max,
-        v_min,
-        v_max,
+        params={
+            "mu": mu,
+            "C_Sf": C_Sf,
+            "C_Sr": C_Sr,
+            "lf": lf,
+            "lr": lr,
+            "h": h,
+            "m": m,
+            "I": I,
+            "s_min": s_min,
+            "s_max": s_max,
+            "sv_min": sv_min,
+            "sv_max": sv_max,
+            "v_switch": v_switch,
+            "a_max": a_max,
+            "v_min": v_min,
+            "v_max": v_max,
+        },
     )
     return f