public void TestWithMaxDeviation() { var builder = new PlanParameters.Builder(); var parameters = new PlanParameters(builder); Assert.Equal(5, parameters.WithMaxDeviation(5).MaxDeviation); Assert.Equal(-3, parameters.WithMaxDeviation(-3).MaxDeviation); }
public void TestWithCollision() { var builder = new PlanParameters.Builder(); var parameters = new PlanParameters(builder); Assert.True(parameters.WithCollisionCheck(true).CollisionCheck); Assert.False(parameters.WithCollisionCheck(false).CollisionCheck); }
public void TestWithSampleResolution() { var builder = new PlanParameters.Builder(); var parameters = new PlanParameters(builder); Assert.Equal(5, parameters.WithSampleResolution(5).SampleResolution); Assert.Equal(-3, parameters.WithSampleResolution(-3).SampleResolution); }
public void TestScaleAcceleration() { var builder = new PlanParameters.Builder(); builder.MaxAcceleration = new double[] { 1000, -4 }; Assert.Equal(builder.MaxAcceleration, new double[] { 1000, -4 }); Assert.Throws <ArgumentOutOfRangeException>(() => builder.ScaleAcceleration(1.1)); Assert.Throws <ArgumentOutOfRangeException>(() => builder.ScaleAcceleration(-0.1)); Assert.Equal(builder.ScaleAcceleration(0.25).MaxAcceleration, new double[] { 250, -1 }); }
public void TestInit() { var badBuilderA = new PlanParameters.Builder(); badBuilderA.JointSet = new JointSet("a", "b", "c"); badBuilderA.MaxVelocity = new double[] { 1, 2, 3 }; badBuilderA.MaxAcceleration = new double[] { 1, 2 }; Assert.Throws <ArgumentOutOfRangeException>(() => new PlanParameters(badBuilderA)); var badBuilderB = new PlanParameters.Builder(); badBuilderB.JointSet = new JointSet("a", "b", "c"); badBuilderB.MaxVelocity = new double[] { 1, 2 }; badBuilderB.MaxAcceleration = new double[] { 1, 2, 3 }; Assert.Throws <ArgumentOutOfRangeException>(() => new PlanParameters(badBuilderB)); var builder = new PlanParameters.Builder(); builder.JointSet = new JointSet("a", "b", "c"); builder.MaxVelocity = new double[] { 1, 2, 3 }; builder.MaxAcceleration = new double[] { 1, 2, 3 }; new PlanParameters(builder); }