10 CPPUNIT_ASSERT( playerc_laser_subscribe(
laserProxy, PLAYER_OPEN_MODE ) == 0 );
15 CPPUNIT_ASSERT( playerc_laser_unsubscribe(
laserProxy ) == 0 );
25 unsigned char intensity = 1;
28 CPPUNIT_ASSERT( playerc_laser_set_config(
laserProxy, min, max, res, range_res, intensity, freq ) == 0 );
30 double min2, max2, res2, range_res2, freq2;
31 unsigned char intensity2 = 1;
32 CPPUNIT_ASSERT( playerc_laser_get_config(
laserProxy, &min2, &max2, &res2, &range_res2, &intensity2, &freq2 ) == 0 );
34 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
"min scan angle", min, min2,
Delta );
35 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
"max scan angle", max, max2,
Delta );
36 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
"angular resolution", res, res2,
Delta );
37 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
"range resolution", range_res, range_res2,
Delta );
38 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
"scan freq", freq, freq2,
Delta );
39 CPPUNIT_ASSERT_EQUAL_MESSAGE(
"intensity", intensity, intensity2 );
43 CPPUNIT_ASSERT( playerc_laser_get_geom(
laserProxy ) == 0 );
46 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
"pose (x)", 0.03,
laserProxy->pose[0],
Delta );
47 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
"pose (y)", 0,
laserProxy->pose[1],
Delta );
48 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
"pose (angle)", 0,
laserProxy->pose[2],
Delta );
49 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
"size (x)", 0.156,
laserProxy->size[0],
Delta );
50 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
"size (y)", 0.155,
laserProxy->size[1],
Delta );
54 playerc_client_read(
client );
58 playerc_client_read(
client );
59 CPPUNIT_ASSERT_MESSAGE(
"laser updating",
laserProxy->info.fresh == 1 );
61 CPPUNIT_ASSERT(
laserProxy->info.datatime > 0 );
63 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
"min scan angle", -M_PI/2,
laserProxy->scan[0][1],
Delta );
66 for (
int i = 0; i <
laserProxy->scan_count; i++ ) {
70 CPPUNIT_ASSERT( distance <= laserProxy->max_range );
71 CPPUNIT_ASSERT( distance >=
laserProxy->min_right );
playerc_laser_t * laserProxy
static const double Delta
playerc_client_t * client