94 lines
2.6 KiB
C++
94 lines
2.6 KiB
C++
/*
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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 angleFixTest, angleTest, mathTests. */
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int main(void)
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{
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bool error = false;
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if (!ArMath::angleBetween(60, 30, 90))
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{
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error = true;
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printf("Failed 60 reported not between 30, 90\n");
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}
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if (ArMath::angleBetween(120, 30, 90))
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{
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error = true;
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printf("Failed 120 reported between 30, 90\n");
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}
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if (!ArMath::angleBetween(-60, -90, -30))
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{
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error = true;
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printf("Failed -60 reported not between -30, -90\n");
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}
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if (ArMath::angleBetween(-120, -90, -30))
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{
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error = true;
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printf("Failed -120 reported between -30, -90\n");
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}
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if (!ArMath::angleBetween(-120, 90, -90))
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{
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error = true;
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printf("Failed -120 reported not between 90, -90\n");
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}
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if (!ArMath::angleBetween(120, 90, -90))
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{
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error = true;
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printf("Failed 120 reported not between 90, -90\n");
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}
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if (ArMath::angleBetween(0, 90, -90))
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{
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error = true;
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printf("Failed 0 reported between 90, -90\n");
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}
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if (!ArMath::angleBetween(-30, -90, 90))
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{
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error = true;
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printf("Failed -30 reported not between -90, 90\n");
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}
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if (!ArMath::angleBetween(30, -90, 90))
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{
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error = true;
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printf("Failed 30 reported not between -90, 90\n");
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}
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if (ArMath::angleBetween(180, -90, 90))
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{
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error = true;
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printf("Failed 180 reported between -90, 90\n");
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}
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if (!error)
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printf("\nTest ran successfully!\n");
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else
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printf("\nTest failed!\n");
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}
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