From ab15e9f9cf00cde0337c59ec2ccb9d91cdc4e465 Mon Sep 17 00:00:00 2001 From: Ladislas de Toldi Date: Tue, 13 Dec 2022 23:03:07 +0100 Subject: [PATCH] :white_check_mark: (IMUKit): Fix uninteresting mock call for gyro --- libs/IMUKit/tests/IMUKit_test.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/libs/IMUKit/tests/IMUKit_test.cpp b/libs/IMUKit/tests/IMUKit_test.cpp index 2728193be6..1524bb7f65 100644 --- a/libs/IMUKit/tests/IMUKit_test.cpp +++ b/libs/IMUKit/tests/IMUKit_test.cpp @@ -12,6 +12,7 @@ using namespace leka; +using ::testing::AnyNumber; using ::testing::MockFunction; using testing::Return; @@ -118,6 +119,7 @@ TEST_F(IMUKitTest, defaultPosition) accel_data = {0.F, 0.F, 1000.F}; EXPECT_CALL(accel, getXYZ).WillRepeatedly(Return(accel_data)); + EXPECT_CALL(gyro, getXYZ).Times(AnyNumber()); for (auto i = 0; i < 100; ++i) { imukit.computeAngles(); @@ -135,6 +137,7 @@ TEST_F(IMUKitTest, robotRolled90DegreesOnTheTop) accel_data = {1000.F, 0.F, 0.F}; EXPECT_CALL(accel, getXYZ).WillRepeatedly(Return(accel_data)); + EXPECT_CALL(gyro, getXYZ).Times(AnyNumber()); for (auto i = 0; i < 100; ++i) { imukit.computeAngles(); @@ -152,6 +155,7 @@ TEST_F(IMUKitTest, robotRolled90DegreesOnTheBottom) accel_data = {-1000.F, 0.F, 0.F}; EXPECT_CALL(accel, getXYZ).WillRepeatedly(Return(accel_data)); + EXPECT_CALL(gyro, getXYZ).Times(AnyNumber()); for (auto i = 0; i < 100; ++i) { imukit.computeAngles(); @@ -169,6 +173,7 @@ TEST_F(IMUKitTest, robotRolled90DegreesOnItsLeft) accel_data = {0.F, 1000.F, 0.F}; EXPECT_CALL(accel, getXYZ).WillRepeatedly(Return(accel_data)); + EXPECT_CALL(gyro, getXYZ).Times(AnyNumber()); for (auto i = 0; i < 100; ++i) { imukit.computeAngles(); @@ -186,6 +191,7 @@ TEST_F(IMUKitTest, robotRolled90DegreesOnItsRight) accel_data = {0.F, -1000.F, 0.F}; EXPECT_CALL(accel, getXYZ).WillRepeatedly(Return(accel_data)); + EXPECT_CALL(gyro, getXYZ).Times(AnyNumber()); for (auto i = 0; i < 100; ++i) { imukit.computeAngles();