From 03cc6053758ea90793a1c93daaf7c8c5c77baf2b Mon Sep 17 00:00:00 2001 From: DrDab Date: Mon, 16 Oct 2023 18:42:19 -0700 Subject: [PATCH] More cleanup --- tests/control/PlanarArmControllerTest.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tests/control/PlanarArmControllerTest.cpp b/tests/control/PlanarArmControllerTest.cpp index 8214a39e8..3af7c5fd8 100644 --- a/tests/control/PlanarArmControllerTest.cpp +++ b/tests/control/PlanarArmControllerTest.cpp @@ -48,10 +48,10 @@ TEST_CASE("Test Planar Arm Safety Factor", "[control][planararmcontroller]") { // Instantiate PlanarArmController. PlanarArmController<2> foo({0, 0}, kin_obj, Constants::arm::SAFETY_FACTOR); - // Attempt to straighten out the EE all the way, violating max length safety factor. + // Attempt to straighten out the end effector all the way, violating max length safety factor. + // This should cause the EE to be repositioned to fit the length constraint. foo.set_setpoint({0.0, 0.0}); - navtypes::Vectord<2> limitedSetpoint = foo.get_setpoint(robot::types::dataclock::now()); - assertApprox({9.5, 0.0}, limitedSetpoint); + assertApprox({9.5, 0.0}, foo.get_setpoint(robot::types::dataclock::now())); // Try setting the joints to be orthogonal but within max length, such that: // - End effector position is (6,4), which implies that: