Initial commit

2026-07-13 09:25:40 +07:00
parent c08ff54676
commit bccfb156d7
1938 changed files with 641646 additions and 0 deletions
--- a/srcs/RobotNet10/Tests/RobotNet10.NavigationTune.Test/Scenarios/CircleScenarioTests.cs
+++ b/srcs/RobotNet10/Tests/RobotNet10.NavigationTune.Test/Scenarios/CircleScenarioTests.cs
@@ -0,0 +1,114 @@
+using FluentAssertions;
+using Xunit;
+using RobotNet10.NavigationTune.Shared.Models;
+using RobotNet10.NavigationTune.Scenarios;
+using RobotNet10.NavigationTune.Test.Helpers;
+
+namespace RobotNet10.NavigationTune.Test.Scenarios;
+
+public class CircleScenarioTests
+{
+    [Fact]
+    public void GenerateReferencePath_ShouldGenerateCircularPath()
+    {
+        // Arrange
+        var scenario = TestHelpers.CreateCircleScenario(2.0);
+
+        // Act
+        var path = scenario.GenerateReferencePath();
+
+        // Assert
+        path.Should().NotBeNull();
+        path.Count.Should().BeGreaterThan(0);
+        
+        // First and last points should be close (closed circle)
+        var firstPoint = path[0];
+        var lastPoint = path[^1];
+        var distance = Math.Sqrt(Math.Pow(lastPoint.X - firstPoint.X, 2) + 
+                                 Math.Pow(lastPoint.Y - firstPoint.Y, 2));
+        distance.Should().BeLessThan(0.5); // Should be close to starting point
+    }
+
+    [Fact]
+    public void GenerateReferencePath_ShouldHaveCorrectRadius()
+    {
+        // Arrange
+        const double radius = 2.0;
+        var scenario = TestHelpers.CreateCircleScenario(radius);
+
+        // Act
+        var path = scenario.GenerateReferencePath();
+
+        // Assert
+        // Check that points are approximately at the correct radius
+        foreach (var point in path)
+        {
+            var distanceFromCenter = Math.Sqrt(point.X * point.X + point.Y * point.Y);
+            distanceFromCenter.Should().BeApproximately(radius, 0.1);
+        }
+    }
+
+    [Fact]
+    public void IsGoalReached_WithPoseAtGoal_ShouldReturnTrue()
+    {
+        // Arrange
+        var scenario = TestHelpers.CreateCircleScenario(2.0);
+        var goalPose = scenario.GetGoalPose();
+        var poseAtGoal = new Pose2D(goalPose.X, goalPose.Y, goalPose.Theta);
+
+        // Act
+        var result = scenario.IsGoalReached(poseAtGoal);
+
+        // Assert
+        result.Should().BeTrue();
+    }
+
+    [Fact]
+    public void IsGoalReached_WithPoseFarFromGoal_ShouldReturnFalse()
+    {
+        // Arrange
+        var scenario = TestHelpers.CreateCircleScenario(2.0);
+        var poseFarAway = new Pose2D(10.0, 10.0, 0.0);
+
+        // Act
+        var result = scenario.IsGoalReached(poseFarAway);
+
+        // Assert
+        result.Should().BeFalse();
+    }
+
+    [Fact]
+    public void GetGoalPose_ShouldReturnStartingPoint()
+    {
+        // Arrange
+        var scenario = TestHelpers.CreateCircleScenario(2.0);
+
+        // Act
+        var goalPose = scenario.GetGoalPose();
+
+        // Assert
+        // Goal should be at starting point (circle is closed)
+        goalPose.X.Should().BeApproximately(2.0, 0.1);
+        goalPose.Y.Should().BeApproximately(0.0, 0.1);
+    }
+
+    [Fact]
+    public void GenerateReferencePath_WithDifferentRadii_ShouldGenerateCorrectPaths()
+    {
+        // Arrange
+        var scenario1 = TestHelpers.CreateCircleScenario(1.0);
+        var scenario2 = TestHelpers.CreateCircleScenario(5.0);
+
+        // Act
+        var path1 = scenario1.GenerateReferencePath();
+        var path2 = scenario2.GenerateReferencePath();
+
+        // Assert
+        // Check first point radius
+        var radius1 = Math.Sqrt(path1[0].X * path1[0].X + path1[0].Y * path1[0].Y);
+        var radius2 = Math.Sqrt(path2[0].X * path2[0].X + path2[0].Y * path2[0].Y);
+        
+        radius1.Should().BeApproximately(1.0, 0.1);
+        radius2.Should().BeApproximately(5.0, 0.1);
+    }
+}