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@christophfroehlich
christophfroehlich committed Jan 4, 2024
1 parent 922255b commit 0ed1a94
Showing 1 changed file with 8 additions and 8 deletions.
16 changes: 8 additions & 8 deletions joint_trajectory_controller/test/test_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -506,7 +506,7 @@ TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_tru
(traj_controller_->has_velocity_command_interface() ||
traj_controller_->has_effort_command_interface()))
{
// error.velocities[index] = desired.velocities[index] - current.velocities[index];
// expect: error.velocities = desired.velocities - current.velocities;
EXPECT_NEAR(error.velocities[0], 0., EPS);
EXPECT_NEAR(error.velocities[1], 0., EPS);
EXPECT_NEAR(error.velocities[2], 0., EPS);
Expand All @@ -515,7 +515,7 @@ TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_tru
traj_controller_->has_acceleration_state_interface() &&
traj_controller_->has_acceleration_command_interface())
{
// error.accelerations[index] = desired.accelerations[index] - current.accelerations[index];
// expect: error.accelerations = desired.accelerations - current.accelerations;
EXPECT_NEAR(error.accelerations[0], 0., EPS);
EXPECT_NEAR(error.accelerations[1], 0., EPS);
EXPECT_NEAR(error.accelerations[2], 0., EPS);
Expand All @@ -538,7 +538,7 @@ TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_tru
(traj_controller_->has_velocity_command_interface() ||
traj_controller_->has_effort_command_interface()))
{
// error.velocities[index] = desired.velocities[index] - current.velocities[index];
// expect: error.velocities = desired.velocities - current.velocities;
EXPECT_NEAR(error.velocities[0], desired.velocities[0] - current.velocities[0], EPS);
EXPECT_NEAR(error.velocities[1], desired.velocities[1] - current.velocities[1], EPS);
EXPECT_NEAR(error.velocities[2], desired.velocities[2] - current.velocities[2], EPS);
Expand All @@ -547,7 +547,7 @@ TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_tru
traj_controller_->has_acceleration_state_interface() &&
traj_controller_->has_acceleration_command_interface())
{
// error.accelerations[index] = desired.accelerations[index] - current.accelerations[index];
// expect: error.accelerations = desired.accelerations - current.accelerations;
EXPECT_NEAR(error.accelerations[0], desired.accelerations[0] - current.accelerations[0], EPS);
EXPECT_NEAR(error.accelerations[1], desired.accelerations[1] - current.accelerations[1], EPS);
EXPECT_NEAR(error.accelerations[2], desired.accelerations[2] - current.accelerations[2], EPS);
Expand Down Expand Up @@ -600,7 +600,7 @@ TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_fal
(traj_controller_->has_velocity_command_interface() ||
traj_controller_->has_effort_command_interface()))
{
// error.velocities[index] = desired.velocities[index] - current.velocities[index];
// expect: error.velocities = desired.velocities - current.velocities;
EXPECT_NEAR(error.velocities[0], 0., EPS);
EXPECT_NEAR(error.velocities[1], 0., EPS);
EXPECT_NEAR(error.velocities[2], 0., EPS);
Expand All @@ -609,7 +609,7 @@ TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_fal
traj_controller_->has_acceleration_state_interface() &&
traj_controller_->has_acceleration_command_interface())
{
// error.accelerations[index] = desired.accelerations[index] - current.accelerations[index];
// expect: error.accelerations = desired.accelerations - current.accelerations;
EXPECT_NEAR(error.accelerations[0], 0., EPS);
EXPECT_NEAR(error.accelerations[1], 0., EPS);
EXPECT_NEAR(error.accelerations[2], 0., EPS);
Expand All @@ -632,7 +632,7 @@ TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_fal
(traj_controller_->has_velocity_command_interface() ||
traj_controller_->has_effort_command_interface()))
{
// error.velocities[index] = desired.velocities[index] - current.velocities[index];
// expect: error.velocities = desired.velocities - current.velocities;
EXPECT_NEAR(error.velocities[0], desired.velocities[0] - current.velocities[0], EPS);
EXPECT_NEAR(error.velocities[1], desired.velocities[1] - current.velocities[1], EPS);
EXPECT_NEAR(error.velocities[2], desired.velocities[2] - current.velocities[2], EPS);
Expand All @@ -641,7 +641,7 @@ TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_fal
traj_controller_->has_acceleration_state_interface() &&
traj_controller_->has_acceleration_command_interface())
{
// error.accelerations[index] = desired.accelerations[index] - current.accelerations[index];
// expect: error.accelerations = desired.accelerations - current.accelerations;
EXPECT_NEAR(error.accelerations[0], desired.accelerations[0] - current.accelerations[0], EPS);
EXPECT_NEAR(error.accelerations[1], desired.accelerations[1] - current.accelerations[1], EPS);
EXPECT_NEAR(error.accelerations[2], desired.accelerations[2] - current.accelerations[2], EPS);
Expand Down

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