void Helper_test::testAbsolute() {
const double pos = 1;
const double neg = -1;
const double expected = 1;
const double resultAbsOnPos = absolut(pos);
CPPUNIT_ASSERT_EQUAL(expected, resultAbsOnPos);
const double resultAbsOnNeg = absolut(neg);
CPPUNIT_ASSERT_EQUAL(expected, resultAbsOnNeg);
}
double euler(double e){
double newpotenz = potenz(1+(1/n),n);
a_neu = (a_alt + newpotenz)/2;
if ((absolut(a_alt - a_neu)) < e){
return a_neu;
}
else{
a_alt = a_neu;
n += 1;
euler (e);
}
return a_neu;
}
void process_output(char *msg_buf, float phi, float xleft, float xright)
{
int backward, forward;
float center;
float xc, theta;
backward = (xleft <= -0.95 || xright >= 0.95);
forward = (xleft >= -0.1 && xright <= 0.1);
center = (xleft + xright) / 2;
printf("xleft %.4f, xright %.4f, center %.4f\n",
xleft, xright, center);
if (absolut(center) <= 0.2) {
printf("center\n");
xc = 100;
if (forward) {
theta = 0.00025;
} else if (backward) {
theta = -0.00025;
} else {
theta = 0.0001;
}
} else if (center > 0.6 && center < 0.8) {
printf("right\n");
xc = 10 * D;
if (forward) {
theta = 0.01;
} else if (backward) {
theta = -0.01;
} else {
theta = 0.005;
}
} else if (center >= 0.8) {
printf("extreme right\n");
xc = D;
if (forward) {
theta = 0.05;
} else if (backward) {
theta = -0.05;
} else {
theta = 0.025;
}
} else if (center < -0.6 && center > -0.8) {
printf("left\n");
xc = -10 * D;
if (forward) {
theta = 0.01;
} else if (backward) {
theta = -0.01;
} else {
theta = 0.005;
}
} else if (center <= -0.8) {
printf("extreme left\n");
xc = -D;
if (forward) {
theta = 0.05;
} else if (backward) {
theta = -0.05;
} else {
theta = 0.025;
}
}
memset(msg_buf, 0, BUFSIZ);
sprintf(msg_buf, "xc %f theta %f\n", xc, theta);
}