Add basic ut for BicycleCar

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1ac5e41143c1c5ebc50302302aae9e386bc5c6b2..0733cda5873b0881ab9ec6dd24c4c104495a0756 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,8 +17,9 @@ ADD_DEFINITIONS(-DWVTEST_CONFIGURED)
 add_executable(ut
         wvtest/cpp/wvtestmain.cc
         wvtest/cpp/wvtest.cc
-        wvtest/cpp/t/wvtest.t.cc
+        ut/bcar.t.cc
 )
+target_link_libraries(ut bcar)
 
 add_custom_command(TARGET ut
         POST_BUILD COMMAND ./wvtestrun ../build/ut

diff --git a/ut/bcar.t.cc b/ut/bcar.t.cc
new file mode 100644 (file)
index 0000000..b55c269
--- /dev/null
+++ b/ut/bcar.t.cc
@@ -0,0 +1,32 @@
+#include <cmath>
+#include "bcar.h"
+#include "wvtest.h"
+
+WVTEST_MAIN("bcar basic geometry")
+{
+        BicycleCar *bc = new BicycleCar();
+        bc->x(1);
+        bc->y(1);
+        bc->h(M_PI / 2);
+        bc->mtr(10);
+        bc->wb(2);
+        bc->w(1);
+        bc->l(3);
+        bc->he(1.5);
+        bc->df(2 + 0.5);
+        bc->dr(0.5);
+
+        WVPASSEQ_DOUBLE(bc->l(), bc->df() + bc->dr(), 0.00001);
+        WVPASSEQ_DOUBLE(0.5, bc->lfx(), 0.00001);
+        WVPASSEQ_DOUBLE(0.5, bc->lrx(), 0.00001);
+        WVPASSEQ_DOUBLE(1.5, bc->rrx(), 0.00001);
+        WVPASSEQ_DOUBLE(1.5, bc->rfx(), 0.00001);
+        WVPASSEQ_DOUBLE(3.5, bc->lfy(), 0.00001);
+        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, bc->raly(), 0.00001);
+        WVPASSEQ_DOUBLE(1, bc->rary(), 0.00001);
+}