void
TInstantiateObjectTester::RunTests() {
NextSubTest();
Case1();
NextSubTest();
Case2();
NextSubTest();
Case3();
NextSubTest();
Case4();
NextSubTest();
Case5();
NextSubTest();
Case6();
NextSubTest();
Case7();
NextSubTest();
Case8();
NextSubTest();
Case9();
NextSubTest();
Case10();
NextSubTest();
Case11();
NextSubTest();
Case12();
NextSubTest();
Case13();
NextSubTest();
Case14();
}
std::vector<double> Controller::DetermineBangBangCaseAndUpdate(double wdot_0, double w_f, double amax, double vmax) {
if (wdot_0 < 0.0) { //going the wrong way!
return Case1(wdot_0, w_f);
}
else if (wdot_0 < vmax && w_f > (wdot_0*wdot_0)/(2*amax)) { //speed up
return Case2(wdot_0, w_f);
}
else if (wdot_0 == vmax && w_f > (wdot_0*wdot_0)/(2*amax)) { //cruise
return Case3(wdot_0, w_f);
}
else if (wdot_0 <= vmax && w_f <= (wdot_0*wdot_0)/(2*amax)) { //slow down to reach goal
return Case4(wdot_0, w_f);
}
else if (wdot_0 > vmax) { //exceeds velocity limits
return Case5(wdot_0, w_f);
}
else {
std::vector<double> update;
return update;
}
}