[irteus-demo.l] add test-test-extended-preview-control-0-QR

euslisp · Aug 27, 2019 · 1c96381 · 1c96381
1 parent 36d6866
commit 1c96381
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/irteus/test/irteus-demo.l b/irteus/test/irteus-demo.l
@@ -89,6 +89,13 @@
   (assert
    (every #'identity (test-preview-control-0 :preview-controller-class extended-preview-controller))))
 
+(deftest test-test-extended-preview-control-0-QR
+  (assert
+   (every #'identity (mapcar #'(lambda (x y) (and (eps= (cadr (memq :zmp x)) (cadr (memq :zmp y)))
+                                                  (eps= (cadr (memq :cog x)) (cadr (memq :cog y)))))
+                             (test-preview-control-0 :preview-controller-class extended-preview-controller :q 1 :r 1e-6)
+                             (test-preview-control-0 :preview-controller-class extended-preview-controller :q 1e1 :r 1e-5)))))
+
 (deftest test-test-preview-control-1
   (assert
    (every #'identity (test-preview-control-1))))