15 lines
605 B
C++
15 lines
605 B
C++
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#include "workflow_fixture.hpp"
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#include <cmath>
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int main() {
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const Pose flat{"map",0,0,0,0,0,0,1};
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const Pose tilted{"map",0,0,0.3,0.1,0,0,std::sqrt(.99)};
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assert(within_tolerance(tilted,flat,.01,.01) && "navigation tolerance is XY/yaw per DR");
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Fixture f("preflight_independent");
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f.driver.unknown_verification=true;
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auto runner=f.runner();
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const auto result=f.execute(runner);
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assert(result==TickStatus::INTERVENTION_REQUIRED);
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assert(f.count(Skill::NAVIGATE)==0 && "default sensor EMPTY must not authorize first motion");
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std::cout<<"independent preflight gates first motion\n";
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}
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