Test curvatureToPoint when zero curvature

Ryan4253 · Dec 30, 2023 · 778988e · 778988e
1 parent 8b86340
commit 778988e
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/test/test/Geometry/PoseTest.cpp b/test/test/Geometry/PoseTest.cpp
@@ -146,4 +146,11 @@ TEST(PoseTest, curvatureToPoint) {
     rz::Translation target(2_m, 4_m);
 
     EXPECT_NEAR(rz::curvatureToPoint(pose, target).convert(radpm), -0.5, EPSILON);
+}
+
+TEST(PoseTest, curvatureToPointZero) {
+    rz::Pose pose(rz::Translation(4_m, 2_m), 0_deg);
+    rz::Translation target(6_m, 2_m);
+
+    EXPECT_NEAR(rz::curvatureToPoint(pose, target).convert(radpm), 0, 0);
 }