Add guess goal car declaration, ut

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

diff --git a/ut/psp.t.cc b/ut/psp.t.cc
index 36195b6235e40c07c1a92cf2df5bbe147ec1ee11..72aefa49cca54978ad8ad22c73530c11bd231ccb 100644 (file)
--- a/ut/psp.t.cc
+++ b/ut/psp.t.cc
@@ -7,9 +7,6 @@ WVTEST_MAIN("parallel parking slot planner")
 {
         PSPlanner psp;
         psp.ps().border(3, 3, 5, 3, 5, 8, 3, 8);
-        psp.gc().x(4);
-        psp.gc().y(4);
-        psp.gc().h(M_PI / 2);
         psp.gc().mtr(10);
         psp.gc().wb(2);
         psp.gc().w(1);
@@ -17,6 +14,7 @@ WVTEST_MAIN("parallel parking slot planner")
         psp.gc().he(1.5);
         psp.gc().df(2 + 0.5);
         psp.gc().dr(0.5);
+        psp.guess_gc();
         psp.cc() = BicycleCar(psp.gc());
 
         // init orientation
@@ -63,9 +61,6 @@ WVTEST_MAIN("backward perpendicullar parking slot planner")
 {
         PSPlanner psp;
         psp.ps().border(3, 3, 8, 3, 8, 5, 3, 5);
-        psp.gc().x(7);
-        psp.gc().y(4);
-        psp.gc().h(M_PI);
         psp.gc().mtr(10);
         psp.gc().wb(2);
         psp.gc().w(1);
@@ -73,6 +68,7 @@ WVTEST_MAIN("backward perpendicullar parking slot planner")
         psp.gc().he(1.5);
         psp.gc().df(2 + 0.5);
         psp.gc().dr(0.5);
+        psp.guess_gc();
         psp.cc() = BicycleCar(psp.gc());
 
         // init orientation