78 lines
2.2 KiB
C++
78 lines
2.2 KiB
C++
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#include "Aria.h"
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/* See also angleBetweenTest, angleTest, mathTests. */
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void fixTest(double th, double sth)
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{
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double cth;
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if ((cth = ArMath::fixAngle(th)) == sth)
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printf("GOOD fix of %f resulted in %f\n", th, cth);
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else
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{
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printf("bad fix of %f resulted in %f instead of %f\n", th, cth, sth);
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printf("Failed tests\n");
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exit(1);
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}
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}
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int main(void)
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{
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printf("Some tests of fixAngle\n");
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fixTest(405, 45);
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fixTest(-405, -45);
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fixTest(450, 90);
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fixTest(-450, -90);
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fixTest(495, 135);
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fixTest(-495, -135);
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fixTest(540, 180);
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fixTest(-540, 180);
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fixTest(585, -135);
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fixTest(-585, 135);
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fixTest(630, -90);
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fixTest(-630, 90);
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fixTest(675, -45);
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fixTest(-675, 45);
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fixTest(720, 0);
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fixTest(-720, 0);
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fixTest(765, 45);
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fixTest(-765, -45);
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printf("\n");
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fixTest(225, -135);
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fixTest(-225, 135);
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fixTest(315, -45);
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fixTest(-315, 45);
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fixTest(270, -90);
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fixTest(-270, 90);
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fixTest(-180, 180);
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fixTest(180, 180);
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printf("\nPassed all tests!!\n");
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}
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