@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testParameters_2()
{
YoPDGains gains = new YoPDGains("pdGains", new YoVariableRegistry("testRegistry"));
Random rand = new Random();
for (int i = 0; i < 1000; i++)
{
double kp = rand.nextDouble() * 100;
double maxAcc = rand.nextDouble() * 100;
double maxJerk = rand.nextDouble() * 100;
double zeta = rand.nextDouble()*100;
gains.setPDGains(kp, zeta);
gains.setMaximumFeedbackAndMaximumFeedbackRate(maxAcc, maxJerk);
assertEquals(kp, gains.getKp(), 1e-6);
assertEquals(0.0, gains.getKd(), 1e-6);
assertEquals(maxAcc, gains.getMaximumFeedback(), 1e-6);
assertEquals(maxJerk, gains.getMaximumFeedbackRate(), 1e-6);
assertEquals(zeta, gains.getZeta(), 1e-6);
assertEquals(0.0, gains.getPositionDeadband(), 1e-6);
assertEquals(0.0, gains.getYoPositionDeadband().getDoubleValue(), 1e-6);
}
}