test/trajtrap.h

   1 #define MAIN_(x) A_CAST_2(x, _trajtrap)
   2 #include "test.h"
   3 #include "a/trajtrap.h"
   4
   5 int MAIN(int argc, char *argv[]) // NOLINT(misc-definitions-in-headers)
   6 {
   7     int start = 1;
   8     if (argc > 1)
   9     {
  10         char *endptr = A_NULL;
  11         (void)strtonum(argv[1], &endptr);
  12         if (argv[1] == endptr)
  13         {
  14             main_init(argc, argv, 1);
  15             ++start;
  16         }
  17     }
  18
  19     a_float arg[7] = {0};
  20     for (int i = start; i < argc; ++i)
  21     {
  22         arg[i - start] = strtonum(argv[i], A_NULL);
  23     }
  24     a_trajtrap ctx;
  25     a_float t = a_trajtrap_gen(&ctx, arg[0], arg[1], arg[2], arg[3], arg[4], arg[5], arg[6]);
  26     for (a_float dt = 0, delta = t / 1000; dt < t; dt += delta) // NOLINT
  27     {
  28         debug(A_FLOAT_PRI("+", "f,") A_FLOAT_PRI("+", "f,") A_FLOAT_PRI("+", "f,") A_FLOAT_PRI("+", "f\n"),
  29               dt, a_trajtrap_pos(&ctx, dt), a_trajtrap_vel(&ctx, dt), a_trajtrap_acc(&ctx, dt));
  30     }
  31
  32 #if defined(__cplusplus) && (__cplusplus > 201100L)
  33     A_ASSERT_BUILD(std::is_pod<a_trajtrap>::value);
  34 #endif /* __cplusplus */
  35
  36     return 0;
  37 }