public void TestWithIkJumpThreshold()
{
var builder = new TaskSpacePlanParameters.Builder();
var parameters = new TaskSpacePlanParameters(builder);
Assert.Equal(5, parameters.WithIkJumpThreshold(5).IkJumpThreshold);
Assert.Equal(-3, parameters.WithIkJumpThreshold(-3).IkJumpThreshold);
}
public void TestWithMaxDeviation()
{
var builder = new TaskSpacePlanParameters.Builder();
var parameters = new TaskSpacePlanParameters(builder);
Assert.Equal(5, parameters.WithMaxDeviation(5).MaxDeviation);
Assert.Equal(-3, parameters.WithMaxDeviation(-3).MaxDeviation);
}
public void TestWithSampleResolution()
{
var builder = new TaskSpacePlanParameters.Builder();
var parameters = new TaskSpacePlanParameters(builder);
Assert.Equal(5, parameters.WithSampleResolution(5).SampleResolution);
Assert.Equal(-3, parameters.WithSampleResolution(-3).SampleResolution);
}
public void TestWithCollision()
{
var builder = new TaskSpacePlanParameters.Builder();
var parameters = new TaskSpacePlanParameters(builder);
Assert.True(parameters.WithCollisionCheck(true).CollisionCheck);
Assert.False(parameters.WithCollisionCheck(false).CollisionCheck);
}
public void TestScaleAcceleration()
{
var builder = new TaskSpacePlanParameters.Builder
{
MaxAngularAcceleration = 1000,
MaxXYZAcceleration = -4
};
Assert.Throws <ArgumentOutOfRangeException>(() => builder.ScaleAcceleration(1.1));
Assert.Throws <ArgumentOutOfRangeException>(() => builder.ScaleAcceleration(-0.1));
Assert.Equal(250, builder.ScaleAcceleration(0.25).MaxAngularAcceleration);
Assert.Equal(-0.25, builder.ScaleAcceleration(0.25).MaxXYZAcceleration);
}
public void TestScaleVelocity()
{
var builder = new TaskSpacePlanParameters.Builder
{
MaxAngularVelocity = 1000,
MaxXYZVelocity = -4
};
Assert.Throws <ArgumentOutOfRangeException>(() => builder.ScaleVelocity(1.1));
Assert.Throws <ArgumentOutOfRangeException>(() => builder.ScaleVelocity(-0.1));
Assert.Equal(250, builder.ScaleVelocity(0.25).MaxAngularVelocity);
Assert.Equal(-0.25, builder.ScaleVelocity(0.25).MaxXYZVelocity);
}
