robotflow-cvs

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

Update of /cvsroot/robotflow/RobotFlow/Behaviors/src/ut
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27715/src/ut

Modified Files:
	AvoidTest.cc 
Log Message:
modification according to rotation direction logic change when going backward


Index: AvoidTest.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/src/ut/AvoidTest.cc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** AvoidTest.cc	18 Jan 2006 23:23:01 -0000	1.2
--- AvoidTest.cc	19 Jan 2006 16:52:57 -0000	1.3
***************
*** 630,634 ****
        CPPUNIT_ASSERT(1);
     }
!    CPPUNIT_ASSERT_EQUAL(-20, m_avoidUtil->evalAvoidingRotVel(100, 0, 0));
     CPPUNIT_ASSERT_EQUAL(0, m_avoidUtil->evalAvoidingRotVel(100, 0, 1));
     CPPUNIT_ASSERT_EQUAL(10, m_avoidUtil->evalAvoidingRotVel(100, 0, 0.75));
--- 630,636 ----
        CPPUNIT_ASSERT(1);
     }
!    // Considering we will stay in reverse mode a short time and go forward after,
!    // it seems more appropriate to turn in same direction as we wiil do in forward movement.
!    CPPUNIT_ASSERT_EQUAL(20, m_avoidUtil->evalAvoidingRotVel(100, 0, 0));
     CPPUNIT_ASSERT_EQUAL(0, m_avoidUtil->evalAvoidingRotVel(100, 0, 1));
     CPPUNIT_ASSERT_EQUAL(10, m_avoidUtil->evalAvoidingRotVel(100, 0, 0.75));