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Enno Maschke
openPASSSimulation
Commits
b352ee67
Commit
b352ee67
authored
1 year ago
by
Enno Maschke
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Update Dynamics Chassis Test
parent
706141b3
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1 changed file
sim/tests/unitTests/components/Dynamics_Chassis/tst_ut_Chassis3D.cpp
+56
-43
56 additions, 43 deletions
...nitTests/components/Dynamics_Chassis/tst_ut_Chassis3D.cpp
with
56 additions
and
43 deletions
sim/tests/unitTests/components/Dynamics_Chassis/tst_ut_Chassis3D.cpp
+
56
−
43
View file @
b352ee67
...
...
@@ -29,72 +29,72 @@ private Q_SLOTS:
void
testCase
();
private:
void
TestCaseSequence1
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
TestCaseSequence1
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
double
mass
,
std
::
vector
<
double
>
springCoeff
,
std
::
vector
<
double
>
damperCoeff
);
void
TestCaseSequence2
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
TestCaseSequence2
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
double
mass
,
std
::
vector
<
double
>
springCoeff
,
std
::
vector
<
double
>
damperCoeff
);
void
TestCaseSequence3
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
TestCaseSequence3
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
double
mass
,
std
::
vector
<
double
>
springCoeff
,
std
::
vector
<
double
>
damperCoeff
);
void
TestCaseSequence4
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
TestCaseSequence4
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
double
mass
,
std
::
vector
<
double
>
springCoeff
,
std
::
vector
<
double
>
damperCoeff
);
void
TestCaseSequence5
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
TestCaseSequence5
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
double
mass
,
std
::
vector
<
double
>
springCoeff
,
std
::
vector
<
double
>
damperCoeff
);
void
TestCaseSequence6
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
TestCaseSequence6
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
double
mass
,
std
::
vector
<
double
>
springCoeff
,
std
::
vector
<
double
>
damperCoeff
);
void
TestCaseSequence7
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
TestCaseSequence7
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
double
mass
,
std
::
vector
<
double
>
springCoeff
,
std
::
vector
<
double
>
damperCoeff
);
void
TestCaseSequence8
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
TestCaseSequence8
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
double
mass
,
std
::
vector
<
double
>
springCoeff
,
std
::
vector
<
double
>
damperCoeff
);
void
TestCaseSequence9
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
TestCaseSequence9
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
...
...
@@ -110,8 +110,8 @@ void UT_Chassis3D::testCase_data()
QTest
::
addColumn
<
double
>
(
"inertiaForceY"
);
// fixed parameters
QTest
::
addColumn
<
std
::
vector
<
units
::
length
::
meter_t
>>
(
"lenLeft"
);
QTest
::
addColumn
<
std
::
vector
<
units
::
length
::
meter_t
>>
(
"lenRight"
);
QTest
::
addColumn
<
std
::
vector
<
double
>>
(
"lenLeft"
);
QTest
::
addColumn
<
std
::
vector
<
double
>>
(
"lenRight"
);
QTest
::
addColumn
<
double
>
(
"lenFront"
);
QTest
::
addColumn
<
double
>
(
"lenRear"
);
QTest
::
addColumn
<
double
>
(
"heightCOG"
);
...
...
@@ -125,7 +125,7 @@ void UT_Chassis3D::testCase_data()
QTest
::
addColumn
<
double
>
(
"expectedForceRL"
);
QTest
::
addColumn
<
double
>
(
"expectedForceRR"
);
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
=
{
0.74
_m
,
0.74
_m
},
lenRight
=
{
0.74
_m
,
0.74
_m
};
std
::
vector
<
double
>
lenLeft
=
{
0.74
,
0.74
},
lenRight
=
{
0.74
,
0.74
};
double
lenFront
=
1.15
,
lenRear
=
1.26
;
double
heightCOG
=
0.59
;
double
mass
=
1350.0
;
...
...
@@ -144,8 +144,8 @@ void UT_Chassis3D::testCase_data()
TestCaseSequence9
(
lenLeft
,
lenRight
,
lenFront
,
lenRear
,
heightCOG
,
mass
,
springCoeff
,
damperCoeff
);
}
void
UT_Chassis3D
::
TestCaseSequence1
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
UT_Chassis3D
::
TestCaseSequence1
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
...
...
@@ -168,8 +168,8 @@ void UT_Chassis3D::TestCaseSequence1(std::vector<units::length::meter_t> lenLeft
<<
expectedForceFL
<<
expectedForceFR
<<
expectedForceRL
<<
expectedForceRR
;
// outputs
}
void
UT_Chassis3D
::
TestCaseSequence2
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
UT_Chassis3D
::
TestCaseSequence2
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
...
...
@@ -192,8 +192,8 @@ void UT_Chassis3D::TestCaseSequence2(std::vector<units::length::meter_t> lenLeft
<<
expectedForceFL
<<
expectedForceFR
<<
expectedForceRL
<<
expectedForceRR
;
// outputs
}
void
UT_Chassis3D
::
TestCaseSequence3
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
UT_Chassis3D
::
TestCaseSequence3
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
...
...
@@ -216,8 +216,8 @@ void UT_Chassis3D::TestCaseSequence3(std::vector<units::length::meter_t> lenLeft
<<
expectedForceFL
<<
expectedForceFR
<<
expectedForceRL
<<
expectedForceRR
;
// outputs
}
void
UT_Chassis3D
::
TestCaseSequence4
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
UT_Chassis3D
::
TestCaseSequence4
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
...
...
@@ -240,8 +240,8 @@ void UT_Chassis3D::TestCaseSequence4(std::vector<units::length::meter_t> lenLeft
<<
expectedForceFL
<<
expectedForceFR
<<
expectedForceRL
<<
expectedForceRR
;
// outputs
}
void
UT_Chassis3D
::
TestCaseSequence5
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
UT_Chassis3D
::
TestCaseSequence5
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
...
...
@@ -264,8 +264,8 @@ void UT_Chassis3D::TestCaseSequence5(std::vector<units::length::meter_t> lenLeft
<<
expectedForceFL
<<
expectedForceFR
<<
expectedForceRL
<<
expectedForceRR
;
// outputs
}
void
UT_Chassis3D
::
TestCaseSequence6
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
UT_Chassis3D
::
TestCaseSequence6
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
...
...
@@ -288,8 +288,8 @@ void UT_Chassis3D::TestCaseSequence6(std::vector<units::length::meter_t> lenLeft
<<
expectedForceFL
<<
expectedForceFR
<<
expectedForceRL
<<
expectedForceRR
;
// outputs
}
void
UT_Chassis3D
::
TestCaseSequence7
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
UT_Chassis3D
::
TestCaseSequence7
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
...
...
@@ -312,8 +312,8 @@ void UT_Chassis3D::TestCaseSequence7(std::vector<units::length::meter_t> lenLeft
<<
expectedForceFL
<<
expectedForceFR
<<
expectedForceRL
<<
expectedForceRR
;
// outputs
}
void
UT_Chassis3D
::
TestCaseSequence8
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
UT_Chassis3D
::
TestCaseSequence8
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
...
...
@@ -336,8 +336,8 @@ void UT_Chassis3D::TestCaseSequence8(std::vector<units::length::meter_t> lenLeft
<<
expectedForceFL
<<
expectedForceFR
<<
expectedForceRL
<<
expectedForceRR
;
// outputs
}
void
UT_Chassis3D
::
TestCaseSequence9
(
std
::
vector
<
units
::
length
::
meter_t
>
lenLeft
,
std
::
vector
<
units
::
length
::
meter_t
>
lenRight
,
void
UT_Chassis3D
::
TestCaseSequence9
(
std
::
vector
<
double
>
lenLeft
,
std
::
vector
<
double
>
lenRight
,
double
lenFront
,
double
lenRear
,
double
heightCOG
,
...
...
@@ -367,8 +367,8 @@ void UT_Chassis3D::testCase()
QFETCH
(
double
,
inertiaForceY
);
// fixed values
QFETCH
(
std
::
vector
<
units
::
length
::
meter_t
>
,
lenLeft
);
QFETCH
(
std
::
vector
<
units
::
length
::
meter_t
>
,
lenRight
);
QFETCH
(
std
::
vector
<
double
>
,
lenLeft
);
QFETCH
(
std
::
vector
<
double
>
,
lenRight
);
QFETCH
(
double
,
lenFront
);
QFETCH
(
double
,
lenRear
);
QFETCH
(
double
,
heightCOG
);
...
...
@@ -382,8 +382,21 @@ void UT_Chassis3D::testCase()
QFETCH
(
double
,
expectedForceRL
);
QFETCH
(
double
,
expectedForceRR
);
VehicleBasics
carParam
=
{
std
::
vector
<
units
::
length
::
meter_t
>
(
lenLeft
),
std
::
vector
<
units
::
length
::
meter_t
>
(
lenRight
),
std
::
vector
<
units
::
length
::
meter_t
>
lenLeftParam
,
lenRightParam
;
lenLeftParam
.
resize
(
lenLeft
);
for
(
unsigned
int
idx
=
0
;
idx
<
lenLeft
.
size
();
idx
++
)
{
lenLeftParam
[
idx
]
=
lenLeft
*
1
_m
;
}
lenRightParam
.
resize
(
lenRight
);
for
(
unsigned
int
idx
=
0
;
idx
<
lenLRight
.
size
();
idx
++
)
{
lenRightParam
[
idx
]
=
lenRight
*
1
_m
;
}
VehicleBasics
carParam
=
{
lenLeftParam
,
lenRightParam
,
units
::
length
::
meter_t
(
lenFront
),
units
::
length
::
meter_t
(
lenRear
),
units
::
length
::
meter_t
(
heightCOG
),
...
...
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