int utSpatial(){ { Pose a; } { Nav a; a.smooth(0); a.home(); a.move(1,0,0); a.step(); assert(a.vec() == Vec3d(1.0,0,0)); a.step(); assert(a.vec() == Vec3d(2.0,0,0)); a.step(0.5); assert(a.vec() == Vec3d(2.5,0,0)); } return 0; }