rover_control: unit tests

src/lib/rover_control/CMakeLists.txt

@@ -35,3 +35,7 @@ px4_add_library(rover_control
 	RoverControl.cpp
 	RoverControl.hpp
 )
+
+target_link_libraries(rover_control PUBLIC PID)
+target_link_libraries(rover_control PUBLIC geo)
+px4_add_unit_gtest(SRC RoverControlTest.cpp LINKLIBS rover_control)

src/lib/rover_control/RoverControl.cpp

@@ -200,6 +200,12 @@ float calcWaypointTransitionAngle(Vector2f &prev_wp_ned, Vector2f &curr_wp_ned,
 
 	const Vector2f curr_to_next_wp_ned = next_wp_ned - curr_wp_ned;
 	const Vector2f curr_to_prev_wp_ned = prev_wp_ned - curr_wp_ned;
+
+	// Waypoint overlap
+	if (curr_to_next_wp_ned.norm() < FLT_EPSILON || curr_to_prev_wp_ned.norm() < FLT_EPSILON) {
+		return NAN;
+	}
+
 	float cosin = curr_to_prev_wp_ned.unit_or_zero() * curr_to_next_wp_ned.unit_or_zero();
 	cosin = math::constrain<float>(cosin, -1.f, 1.f); // Protect against float precision problem
 	return acosf(cosin);

src/lib/rover_control/RoverControlTest.cpp

@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/******************************************************************
+ * Test code for the Pure Pursuit algorithm
+ * Run this test only using "make tests TESTFILTER=RoverControl"
+******************************************************************/
+
+#include <gtest/gtest.h>
+#include "RoverControl.hpp"
+
+TEST(calcWaypointTransitionAngle, invalidInputs)
+{
+	Vector2f prev_wp_ned(NAN, NAN);
+	Vector2f curr_wp_ned(10.f, 10.f);
+	Vector2f next_wp_ned(10.f, 10.f);
+	float prevInvalid = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	prev_wp_ned = Vector2f(10.f, 10.f);
+	curr_wp_ned = Vector2f(NAN, NAN);
+	float currInvalid = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	curr_wp_ned = Vector2f(10.f, 10.f);
+	next_wp_ned = Vector2f(NAN, NAN);
+	float nextInvalid = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	EXPECT_FALSE(PX4_ISFINITE(prevInvalid));
+	EXPECT_FALSE(PX4_ISFINITE(currInvalid));
+	EXPECT_FALSE(PX4_ISFINITE(nextInvalid));
+
+}
+
+TEST(calcWaypointTransitionAngle, validInputs)
+{
+	// P -- C -- N
+	Vector2f prev_wp_ned(0.f, 0.f);
+	Vector2f curr_wp_ned(10.f, 0.f);
+	Vector2f next_wp_ned(20.f, 0.f);
+	const float angle1 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	EXPECT_FLOAT_EQ(angle1, M_PI_F);
+
+	/**
+	 *	    N
+	 *	  /
+	 * P -- C
+	 */
+	prev_wp_ned = Vector2f(0.f, 0.f);
+	curr_wp_ned = Vector2f(10.f, 0.f);
+	next_wp_ned = Vector2f(20.f, 10.f);
+	const float angle2 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	EXPECT_FLOAT_EQ(angle2, M_PI_F - M_PI_4_F);
+
+	/**
+	 *	N
+	 *	|
+	 * P -- C
+	 */
+	prev_wp_ned = Vector2f(0.f, 0.f);
+	curr_wp_ned = Vector2f(10.f, 0.f);
+	next_wp_ned = Vector2f(10.f, 10.f);
+	const float angle3 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	EXPECT_FLOAT_EQ(angle3, M_PI_2_F);
+
+	/**
+	 * N
+	 *    \
+	 * P -- C
+	 */
+	prev_wp_ned = Vector2f(0.f, 0.f);
+	curr_wp_ned = Vector2f(10.f, 0.f);
+	next_wp_ned = Vector2f(0.f, 10.f);
+	const float angle4 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	EXPECT_FLOAT_EQ(angle4, M_PI_4_F);
+
+	// P/C -- N
+	prev_wp_ned = Vector2f(0.f, 0.f);
+	curr_wp_ned = Vector2f(0.f, 0.f);
+	next_wp_ned = Vector2f(10.f, 0.f);
+	const float angle5 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	EXPECT_FALSE(PX4_ISFINITE(angle5));
+
+	// P -- C/N
+	prev_wp_ned = Vector2f(0.f, 0.f);
+	curr_wp_ned = Vector2f(10.f, 0.f);
+	next_wp_ned = Vector2f(10.f, 0.f);
+	const float angle6 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	EXPECT_FALSE(PX4_ISFINITE(angle6));
+}