RateLimiter_Test.cpp

Go to the documentation of this file.

#include <gtest/gtest.h>
#include "robodyn_utilities/RateLimiter.h"

class RateLimiterTest : public ::testing::Test
{
protected:
    virtual void SetUp()
    {
    }

    virtual void TearDown()
    {
    }
};

TEST_F(RateLimiterTest, findLimitsTest)
{
    double lim, curr, prev;
    lim  = 0.1;
    curr = 10.8;
    prev = 9.6;
    RateLimiter rl1;
    rl1.setRateLimit(lim);
    EXPECT_EQ(9.7, rl1.getLimitedValue(curr, prev));
    EXPECT_EQ(0, rl1.getCompletionCondition());

    curr = 4.03;
    prev = 4.05;
    EXPECT_EQ(curr, rl1.getLimitedValue(curr, prev));
    EXPECT_EQ(1, rl1.getCompletionCondition());

    prev = 4.53;
    EXPECT_EQ(prev - lim, rl1.getLimitedValue(curr, prev));
    EXPECT_EQ(0, rl1.getCompletionCondition());

    curr = 4.53;
    EXPECT_EQ(curr, rl1.getLimitedValue(curr, prev));
    EXPECT_EQ(1, rl1.getCompletionCondition());

    EXPECT_EQ(curr, rl1.getLimitedValue(curr, prev));
    EXPECT_EQ(1, rl1.getCompletionCondition());

    lim         = 2.0;
    int currInt = 4;
    int prevInt = 7;
    RateLimiter rl2;
    rl2.setRateLimit(lim);
    EXPECT_EQ(5, rl2.getLimitedValue(currInt, prevInt));
    EXPECT_EQ(0, rl2.getCompletionCondition());
    rl2.setRateLimit(0.5);
    EXPECT_EQ(6, rl2.getLimitedValue(currInt, prevInt));

}

int main(int argc, char** argv)
{
    ::testing::InitGoogleTest(&argc, argv);
    return RUN_ALL_TESTS();
}