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Commit b352ee67 authored by Enno Maschke's avatar Enno Maschke
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Update Dynamics Chassis Test

parent 706141b3
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......@@ -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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