mirror of https://github.com/FOME-Tech/fome-fw.git
unit test for wrapAngle
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@ -431,3 +431,24 @@ TEST(util, isInRange) {
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EXPECT_TRUE(isInRange(5, 10, 10));
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EXPECT_TRUE(isInRange(5, 10, 10));
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EXPECT_FALSE(isInRange(5, 11, 10));
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EXPECT_FALSE(isInRange(5, 11, 10));
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}
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}
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TEST(util, wrapAngle) {
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EngineTestHelper eth(engine_type_e::TEST_ENGINE);
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// Test within range
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EXPECT_EQ(0, wrapAngleMethod(0));
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EXPECT_EQ(20, wrapAngleMethod(20));
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EXPECT_EQ(710, wrapAngleMethod(710));
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// Test off the top of the range
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EXPECT_EQ(1, wrapAngleMethod(721));
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EXPECT_EQ(20, wrapAngleMethod(740));
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EXPECT_EQ(719, wrapAngleMethod(720 + 719));
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EXPECT_EQ(0, wrapAngleMethod(720 + 720));
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EXPECT_EQ(5, wrapAngleMethod(10 * 720 + 5));
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// Test off the bottom of the range
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EXPECT_EQ(719, wrapAngleMethod(-1));
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EXPECT_EQ(360, wrapAngleMethod(-360));
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EXPECT_EQ(1, wrapAngleMethod(-719));
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}
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