33 lines
510 B
C++
33 lines
510 B
C++
|
|
#include <gtest/gtest.h>
|
|
|
|
#include <rs_driver/driver/decoder/trigon.hpp>
|
|
|
|
using namespace robosense::lidar;
|
|
|
|
TEST(TestTrigon, ctor)
|
|
{
|
|
Trigon trigon;
|
|
#if 0
|
|
trigon.print();
|
|
#endif
|
|
|
|
ASSERT_EQ(trigon.sin(-9000), -1.0f);
|
|
ASSERT_LT(trigon.cos(-9000), 0.0001f);
|
|
|
|
ASSERT_EQ(trigon.sin(0), 0.0f);
|
|
ASSERT_EQ(trigon.cos(0), 1.0f);
|
|
|
|
ASSERT_EQ(trigon.sin(3000), 0.5f);
|
|
ASSERT_EQ(trigon.cos(6000), 0.5f);
|
|
|
|
trigon.sin(44999);
|
|
trigon.cos(44999);
|
|
|
|
#if 0
|
|
trigon.sin(45000);
|
|
trigon.cos(45000);
|
|
#endif
|
|
}
|
|
|