system_velocity_smoothing_tests.cpp File Reference

End to end through SystemNode: with very low accelerations, the published commands are smoothed, never a jump to the controller's command. More...

#include <chrono>
#include <cmath>
#include <memory>
#include <vector>
#include "gtest/gtest.h"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "lifecycle_msgs/msg/transition.hpp"
#include "rclcpp/rclcpp.hpp"
#include "easynav_system/SystemNode.hpp"

Include dependency graph for system_velocity_smoothing_tests.cpp:

Classes
class	SystemVelocitySmoothingTest

Functions
	TEST_F (SystemVelocitySmoothingTest, ChangeOfDirectionGoesThroughZero)
	TEST_F (SystemVelocitySmoothingTest, SpeedingUpIsSmoothed)
	TEST_F (SystemVelocitySmoothingTest, StoppingIsSmoothed)

Detailed Description

End to end through SystemNode: with very low accelerations, the published commands are smoothed, never a jump to the controller's command.

Function Documentation

TEST_F() [1/3]

TEST_F	(	SystemVelocitySmoothingTest	,
		ChangeOfDirectionGoesThroughZero	)

TEST_F() [2/3]

TEST_F	(	SystemVelocitySmoothingTest	,
		SpeedingUpIsSmoothed	)

TEST_F() [3/3]

TEST_F	(	SystemVelocitySmoothingTest	,
		StoppingIsSmoothed	)