@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout=300000) public void testSetAndGetGainsByPolePlacement() { setupSCSStuff(); YoDouble maxRateYo = new YoDouble("max_Rate", registry); maxRateYo.set(maxRate, notifyListeners); YoDouble maxAccelerationYo = new YoDouble("max_Acceleration", registry); maxAccelerationYo.set(maxAcceleration, notifyListeners); AccelerationLimitedYoVariable processed = new AccelerationLimitedYoVariable(nameYo, registry, maxRateYo, maxAccelerationYo, dt); double positionGain = random.nextDouble(); double velocityGain = random.nextDouble(); processed.setGainsByPolePlacement(positionGain, velocityGain); double positionGainResult = positionGain * positionGain; double velocityGainResult = 2 * positionGain * velocityGain; assertEquals(positionGainResult, processed.getPositionGain().getDoubleValue(), EPSILON); assertEquals(velocityGainResult, processed.getVelocityGain().getDoubleValue(), EPSILON); }