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);
}
