[Robotflow-cvs] RobotFlow/Behaviors/src/ut AvoidTest.cc,1.1,1.2

[clement r. <kl...@us...>]

Update of /cvsroot/robotflow/RobotFlow/Behaviors/src/ut
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1456/src/ut

Modified Files:
	AvoidTest.cc 
Log Message:
adjust according going backward behavior modification to AvoidUtil.


Index: AvoidTest.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/src/ut/AvoidTest.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** AvoidTest.cc	18 Jan 2006 22:07:29 -0000	1.1
--- AvoidTest.cc	18 Jan 2006 23:23:01 -0000	1.2
***************
*** 545,549 ****
     rangeBelt.clear();
     rangeBelt.resize(12, 601);
!    rangeBelt[3] = 100;
     m_avoidUtil->createProximityMarginBelt(rangeBelt);
     CPPUNIT_ASSERT_EQUAL(false, m_avoidUtil->isAvoidanceNeeded(rangeBelt, -600, pos, margin));
--- 545,549 ----
     rangeBelt.clear();
     rangeBelt.resize(12, 601);
!    rangeBelt[3] = 200;
     m_avoidUtil->createProximityMarginBelt(rangeBelt);
     CPPUNIT_ASSERT_EQUAL(false, m_avoidUtil->isAvoidanceNeeded(rangeBelt, -600, pos, margin));
***************
*** 554,557 ****
--- 554,565 ----
     CPPUNIT_ASSERT_EQUAL(false, m_avoidUtil->isAvoidanceNeeded(rangeBelt, 600, pos, margin));
     CPPUNIT_ASSERT_EQUAL(pos, static_cast<unsigned int>(0));
+    
+    // Avoidance needed even if obstacle not in robot direction
+    rangeBelt.clear();
+    rangeBelt.resize(12, 601);
+    rangeBelt[3] = 100;
+    m_avoidUtil->createProximityMarginBelt(rangeBelt);
+    CPPUNIT_ASSERT_EQUAL(true, m_avoidUtil->isAvoidanceNeeded(rangeBelt, -600, pos, margin));
+    CPPUNIT_ASSERT_EQUAL(pos, static_cast<unsigned int>(3));
  }
  
***************
*** 582,587 ****
     CPPUNIT_ASSERT_EQUAL(-49, m_avoidUtil->evalAvoidingLinVel(0,0.15));
     CPPUNIT_ASSERT_EQUAL(0, m_avoidUtil->evalAvoidingLinVel(0,0.3));
!    CPPUNIT_ASSERT_EQUAL(100, m_avoidUtil->evalAvoidingLinVel(-1,0));
!    CPPUNIT_ASSERT_EQUAL(49, m_avoidUtil->evalAvoidingLinVel(-1,0.15));
     CPPUNIT_ASSERT_EQUAL(0, m_avoidUtil->evalAvoidingLinVel(-1,0.3));
     CPPUNIT_ASSERT_EQUAL(0, m_avoidUtil->evalAvoidingLinVel(0,0.31));
--- 590,596 ----
     CPPUNIT_ASSERT_EQUAL(-49, m_avoidUtil->evalAvoidingLinVel(0,0.15));
     CPPUNIT_ASSERT_EQUAL(0, m_avoidUtil->evalAvoidingLinVel(0,0.3));
!    // We go backward and there is an obstacle below reverse security margin, we go backward.
!    CPPUNIT_ASSERT_EQUAL(-100, m_avoidUtil->evalAvoidingLinVel(-1,0));
!    CPPUNIT_ASSERT_EQUAL(-49, m_avoidUtil->evalAvoidingLinVel(-1,0.15));
     CPPUNIT_ASSERT_EQUAL(0, m_avoidUtil->evalAvoidingLinVel(-1,0.3));
     CPPUNIT_ASSERT_EQUAL(0, m_avoidUtil->evalAvoidingLinVel(0,0.31));
***************
*** 592,598 ****
     CPPUNIT_ASSERT_EQUAL(150, m_avoidUtil->evalAvoidingLinVel(100,0.75));
     CPPUNIT_ASSERT_EQUAL(6, m_avoidUtil->evalAvoidingLinVel(100,0.51));
!    CPPUNIT_ASSERT_EQUAL(-300, m_avoidUtil->evalAvoidingLinVel(-100,1));
!    CPPUNIT_ASSERT_EQUAL(-150, m_avoidUtil->evalAvoidingLinVel(-100,0.75));
!    CPPUNIT_ASSERT_EQUAL(-6, m_avoidUtil->evalAvoidingLinVel(-100,0.51));
  }
  
--- 601,608 ----
     CPPUNIT_ASSERT_EQUAL(150, m_avoidUtil->evalAvoidingLinVel(100,0.75));
     CPPUNIT_ASSERT_EQUAL(6, m_avoidUtil->evalAvoidingLinVel(100,0.51));
!    // There is no obstacle we go forward even if current velocity is negative.
!    CPPUNIT_ASSERT_EQUAL(300, m_avoidUtil->evalAvoidingLinVel(-100,1));
!    CPPUNIT_ASSERT_EQUAL(150, m_avoidUtil->evalAvoidingLinVel(-100,0.75));
!    CPPUNIT_ASSERT_EQUAL(6, m_avoidUtil->evalAvoidingLinVel(-100,0.51));
  }