Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
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+#include <gtest/gtest.h>
+#include <canopen_motor_node/unit_converter.h>
+#include <canopen_motor_node/handle_layer.h>
+#include <functional>
+
+using namespace canopen;
+
+double * mapVariable(const std::string &, double *p) {
+    return p;
+}
+
+TEST(TestMuparser, CheckNorm){
+    double input = 0;
+    UnitConverter uc("norm(in,-1000,1000)", std::bind(HandleLayer::assignVariable, std::placeholders::_1, &input, "in"));
+    input = 0; EXPECT_EQ(0, uc.evaluate());
+    input = 10; EXPECT_EQ(10, uc.evaluate());
+    input = -10; EXPECT_EQ(-10, uc.evaluate());
+    input = 1000; EXPECT_EQ(-1000, uc.evaluate());
+    input = 1001; EXPECT_EQ(-999, uc.evaluate());
+    input = 2000; EXPECT_EQ(0, uc.evaluate());
+    input = 2001; EXPECT_EQ(1, uc.evaluate());
+    input = -1000; EXPECT_EQ(-1000, uc.evaluate());
+    input = 999; EXPECT_EQ(999, uc.evaluate());
+}
+
+int main(int argc, char **argv){
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}