update unit tests

rapyuta-robotics · Dec 25, 2024 · 1eac1c9 · 1eac1c9
1 parent f7443af
commit 1eac1c9
Showing 1 changed file with 10 additions and 10 deletions.
diff --git a/costmap_2d/test/footprint_tests.cpp b/costmap_2d/test/footprint_tests.cpp
@@ -70,17 +70,17 @@ TEST( Costmap2DROS, padded_footprint_from_string_param )
   std::vector<geometry_msgs::Point> footprint = cm.getRobotFootprint();
   EXPECT_EQ( 3, footprint.size() );
 
-  EXPECT_EQ( 1.5f, footprint[ 0 ].x );
-  EXPECT_EQ( 1.5f, footprint[ 0 ].y );
-  EXPECT_EQ( 0.0f, footprint[ 0 ].z );
+  EXPECT_EQ( 1.66667f, footprint[0].x );
+  EXPECT_EQ( 1.66667f, footprint[0].y );
+  EXPECT_EQ( 0.0f, footprint[0].z );
 
-  EXPECT_EQ( -1.5f, footprint[ 1 ].x );
-  EXPECT_EQ( 1.5f, footprint[ 1 ].y );
-  EXPECT_EQ( 0.0f, footprint[ 1 ].z );
+  EXPECT_EQ( -1.66667f, footprint[1].x );
+  EXPECT_EQ( 1.66667f, footprint[1].y );
+  EXPECT_EQ( 0.0f, footprint[1].z );
 
-  EXPECT_EQ( -1.5f, footprint[ 2 ].x );
-  EXPECT_EQ( -1.5f, footprint[ 2 ].y );
-  EXPECT_EQ( 0.0f, footprint[ 2 ].z );
+  EXPECT_EQ( -1.66667f, footprint[2].x );
+  EXPECT_EQ( -1.66667f, footprint[2].y );
+  EXPECT_EQ( 0.0f, footprint[2].z );
 }
 
 TEST( Costmap2DROS, radius_param )
@@ -155,7 +155,7 @@ TEST( Costmap2DROS, footprint_empty )
   // With no specification of footprint or radius, defaults to 0.46 meter radius plus 0.01 meter padding.
   EXPECT_EQ( 16, footprint.size() );
 
-  EXPECT_NEAR( 0.47f, footprint[ 0 ].x, 0.0001 );
+  EXPECT_NEAR( 0.47f, footprint[ 0 ].x, 0.001 );
   EXPECT_NEAR( 0.0f, footprint[ 0 ].y, 0.0001 );
   EXPECT_EQ( 0.0f, footprint[ 0 ].z );
 }