@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testSetToNaN() throws Exception {
Random random = new Random(21651016L);
ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
ReferenceFrame expectedFrame = worldFrame;
double expectedTime = RandomTools.generateRandomDouble(random, 0.0, 1000.0);
FrameOrientation expectedOrientation =
FrameOrientation.generateRandomFrameOrientation(random, expectedFrame);
FrameVector expectedAngularVelocity =
FrameVector.generateRandomFrameVector(random, expectedFrame);
String expectedNamePrefix = "test";
String expectedNameSuffix = "blop";
YoFrameSO3TrajectoryPoint testedYoFrameSO3TrajectoryPoint =
new YoFrameSO3TrajectoryPoint(
expectedNamePrefix,
expectedNameSuffix,
new YoVariableRegistry("schnoop"),
expectedFrame);
testedYoFrameSO3TrajectoryPoint.set(expectedTime, expectedOrientation, expectedAngularVelocity);
testedYoFrameSO3TrajectoryPoint.setToNaN();
assertTrue(Double.isNaN(testedYoFrameSO3TrajectoryPoint.getTime()));
assertTrue(testedYoFrameSO3TrajectoryPoint.getOrientation().containsNaN());
assertTrue(testedYoFrameSO3TrajectoryPoint.getAngularVelocity().containsNaN());
expectedFrame = ReferenceFrame.generateRandomReferenceFrame("blop", random, worldFrame);
testedYoFrameSO3TrajectoryPoint.registerReferenceFrame(expectedFrame);
expectedTime = RandomTools.generateRandomDouble(random, 0.0, 1000.0);
expectedOrientation = FrameOrientation.generateRandomFrameOrientation(random, worldFrame);
expectedAngularVelocity = FrameVector.generateRandomFrameVector(random, worldFrame);
testedYoFrameSO3TrajectoryPoint.switchCurrentReferenceFrame(worldFrame);
testedYoFrameSO3TrajectoryPoint.registerReferenceFrame(worldFrame);
testedYoFrameSO3TrajectoryPoint.set(expectedTime, expectedOrientation, expectedAngularVelocity);
testedYoFrameSO3TrajectoryPoint.setToNaN(expectedFrame);
assertTrue(expectedFrame == testedYoFrameSO3TrajectoryPoint.getReferenceFrame());
assertTrue(Double.isNaN(testedYoFrameSO3TrajectoryPoint.getTime()));
assertTrue(testedYoFrameSO3TrajectoryPoint.getOrientation().containsNaN());
assertTrue(testedYoFrameSO3TrajectoryPoint.getAngularVelocity().containsNaN());
}
