public void Should_SnapIfLargeTurn()
{
Assert.AreEqual(
Math.PI,
Yaw.RotateBy(0, Math.PI, 0.1, 1),
TOLERANCE
);
}
public void Should_IgnoreYawRateSign()
{
Assert.AreEqual(
0.1,
Yaw.RotateBy(0, Math.PI / 2, -0.1, 1),
TOLERANCE
);
}
public void Should_Interpolate()
{
Assert.AreEqual(
0.1,
Yaw.RotateBy(0, Math.PI / 2.0, 0.1, 1),
TOLERANCE
);
Assert.AreEqual(
-0.05,
Yaw.RotateBy(0, -0.1, 0.05, 1),
TOLERANCE
);
}
public void Should_Update_ByCorrectAmount()
{
Assert.AreEqual(
Math.PI / 2,
Yaw.RotateBy(0, Math.PI / 2, Math.PI / 2, 1.0),
TOLERANCE
);
Assert.AreEqual(
0.0,
Yaw.RotateBy(Math.PI / 2, 0, Math.PI / 2, 1.0),
TOLERANCE
);
}
