Add edist to rr, lf method

[hubacji1/bcar.git] / ut / bcar.t.cc

diff --git a/ut/bcar.t.cc b/ut/bcar.t.cc
index 73aaaefc5518b8e0fafe32982813a091d6288903..6849630d7b381f22ab9444e2e83f873bf4252d05 100644 (file)
--- a/ut/bcar.t.cc
+++ b/ut/bcar.t.cc
@@ -33,10 +33,10 @@ WVTEST_MAIN("bcar basic geometry")
        WVPASSEQ_DOUBLE(0.5, bc.lry(), 0.00001);
        WVPASSEQ_DOUBLE(0.5, bc.rry(), 0.00001);
        WVPASSEQ_DOUBLE(3.5, bc.rfy(), 0.00001);
-       WVPASSEQ_DOUBLE(0.5, bc.ralx(), 0.00001);
-       WVPASSEQ_DOUBLE(1.5, bc.rarx(), 0.00001);
-       WVPASSEQ_DOUBLE(1.0, bc.raly(), 0.00001);
-       WVPASSEQ_DOUBLE(1.0, bc.rary(), 0.00001);
+       WVPASSEQ_DOUBLE(0.5, bc.lrax(), 0.00001);
+       WVPASSEQ_DOUBLE(1.5, bc.rrax(), 0.00001);
+       WVPASSEQ_DOUBLE(1.0, bc.lray(), 0.00001);
+       WVPASSEQ_DOUBLE(1.0, bc.rray(), 0.00001);
 
        // min. turning radius circle centers
        WVPASSEQ_DOUBLE(bc.h(), M_PI / 2.0, 0.00001);
@@ -50,6 +50,8 @@ WVTEST_MAIN("bcar basic geometry")
        WVPASSEQ_DOUBLE(3.327076, bc.iradi(), 0.00001);
        WVPASSEQ_DOUBLE(4.997358, bc.ofradi(), 0.00001);
        WVPASSEQ_DOUBLE(4.355868, bc.orradi(), 0.00001);
+       WVPASSEQ_DOUBLE(3.485485, bc.imradi(), 0.00001);
+       WVPASSEQ_DOUBLE(5.199608, bc.omradi(), 0.00001);
        bc.h(M_PI / 2.0);
 
        // moving
@@ -74,6 +76,12 @@ WVTEST_MAIN("bcar basic geometry")
        WVPASSEQ_DOUBLE(0.0, bc.x(), 0.00001);
        WVPASSEQ_DOUBLE(2.0, bc.y(), 0.00001);
        WVPASSEQ_DOUBLE(M_PI / 2.0, bc.h(), 0.00001);
+
+       // distance to rr, lf
+       WVPASSEQ_DOUBLE(0.70710677, bc.edist_to_rr(), 10e-5);
+       WVPASSEQ_DOUBLE(bc.edist(bc.rr()), bc.edist_to_rr(), 10e-5);
+       WVPASSEQ_DOUBLE(2.5495098, bc.edist_to_lf(), 10e-5);
+       WVPASSEQ_DOUBLE(bc.edist(bc.lf()), bc.edist_to_lf(), 10e-5);
 }
 
 WVTEST_MAIN("test collide functions")