From d7b14ce2290748d86ff653d4ee887beb9f7f65d7 Mon Sep 17 00:00:00 2001 From: DrDab Date: Thu, 28 Sep 2023 18:43:06 -0700 Subject: [PATCH] Set setpoint in safety factor test --- tests/control/PlanarArmControllerTest.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/tests/control/PlanarArmControllerTest.cpp b/tests/control/PlanarArmControllerTest.cpp index 05ad7f823..b2ae6defa 100644 --- 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}); } \ No newline at end of file