Function TEST

tests/cpp/path_planning/dubins_test.cpp:14–27

#include "../test_helpers/path_planning_checker.hpp"

TEST(fields2cover_pp_dubins, turn_dist) {
  f2c::types::Robot robot(2.1);
  robot.setCruiseVel(2.0);
  robot.setMaxCurv(1.0);
  robot.setMaxDiffCurv(1.0);

  f2c::pp::DubinsCurves turn;
  F2CPoint start(0.0, 0.0), end(-3.0, 0.0);
  auto path = turn.createTurn(robot,
      start, boost::math::constants::half_pi<double>(),
      end, 3.0 * boost::math::constants::half_pi<double>());
  EXPECT_TRUE(IsPathCorrect(path, start, boost::math::constants::half_pi<double>(),
      end, 3.0 * boost::math::constants::half_pi<double>()));
}

TEST(fields2cover_pp_dubins, random_points) {
  f2c::types::Robot robot(2.1);