pipoint/run_test.go

// Copyright 2017 Google Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
package pipoint

import (
	"math"
	"testing"

	"github.com/stretchr/testify/assert"
)

func TestPointEast(t *testing.T) {
	rover := &NEUPosition{North: 2000, East: 3100}
	base := &NEUPosition{North: 2000, East: 3000}

	at, err := point(rover, base, &NEUPosition{})
	if err != nil {
		t.Errorf("%#v", err)
	}
	assert.InDelta(t, at.Pitch, 0, 0.001)
	assert.InDelta(t, at.Yaw, math.Pi/2, 0.001)
}

func TestPointWest(t *testing.T) {
	rover := &NEUPosition{North: 2000, East: 2900}
	base := &NEUPosition{North: 2000, East: 3000}

	at, err := point(rover, base, &NEUPosition{})
	if err != nil {
		t.Errorf("%#v", err)
	}
	assert.InDelta(t, at.Pitch, 0, 0.001)
	assert.InDelta(t, at.Yaw, -math.Pi/2, 0.001)
}

func TestPointNorth(t *testing.T) {
	rover := &NEUPosition{North: 2100, East: 3000}
	base := &NEUPosition{North: 2000, East: 3000}

	at, err := point(rover, base, &NEUPosition{})
	if err != nil {
		t.Errorf("%#v", err)
	}
	assert.InDelta(t, at.Pitch, 0, 0.001)
	assert.InDelta(t, at.Yaw, 0, 0.001)
}

func TestPointSouth(t *testing.T) {
	rover := &NEUPosition{North: 1900, East: 3000}
	base := &NEUPosition{North: 2000, East: 3000}

	at, err := point(rover, base, &NEUPosition{})
	if err != nil {
		t.Errorf("%#v", err)
	}
	assert.InDelta(t, at.Pitch, 0, 0.001)
	assert.InDelta(t, at.Yaw, math.Pi, 0.001)
}

func TestPointUp(t *testing.T) {
	// ~45 degrees up.
	rover := &NEUPosition{North: 2000, East: 4000, Up: 1000}
	base := &NEUPosition{North: 2000, East: 3000, Up: 0}

	at, err := point(rover, base, &NEUPosition{})
	if err != nil {
		t.Errorf("%#v", err)
	}
	assert.InDelta(t, at.Pitch, math.Pi/4, 0.01)
	assert.InDelta(t, at.Yaw, math.Pi/2, 0.001)
}

func TestPointDown(t *testing.T) {
	// ~45 degrees down.
	rover := &NEUPosition{North: 2000, East: 4000, Up: 0}
	base := &NEUPosition{North: 2000, East: 3000, Up: 1000}

	at, err := point(rover, base, &NEUPosition{})
	if err != nil {
		t.Errorf("%#v", err)
	}
	assert.InDelta(t, at.Pitch, -math.Pi/4, 0.01)
	assert.InDelta(t, at.Yaw, math.Pi/2, 0.001)
}