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