Set setpoint in safety factor test

huskyroboticsteam · Sep 29, 2023 · d7b14ce · d7b14ce
1 parent f033804
commit d7b14ce
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/tests/control/PlanarArmControllerTest.cpp b/tests/control/PlanarArmControllerTest.cpp
@@ -14,6 +14,11 @@ TEST_CASE("Test Planar Arm Controller", "[control][planararmcontroller]") {
 }
 
 TEST_CASE("Test Planar Arm Safety Factor", "[control][planararmcontroller]") {
+	navtypes::Vectord<2> segLens({2.0, 3.0});
+	navtypes::Vectord<2> minAngles({-M_PI, -M_PI});
+	navtypes::Vectord<2> maxAngles({M_PI, M_PI});
+	kinematics::PlanarArmKinematics<2> kin_obj(segLens, minAngles, maxAngles, 0.0, 0);
+
 	PlanarArmController<2> foo({0, 0}, kin_obj, Constants::arm::SAFETY_FACTOR);
-
+	foo.set_setpoint({5.0, 0.0});
 }