#![allow(dead_code)]
#[allow(dead_code)]
#[derive(Debug, Clone)]
pub struct LipAsymConfig {
pub max_delta: f32,
}
#[allow(dead_code)]
#[derive(Debug, Clone)]
pub struct LipAsymState {
pub corner_l: f32,
pub corner_r: f32,
pub upper_l: f32,
pub upper_r: f32,
}
#[allow(dead_code)]
pub fn default_lip_asym_config() -> LipAsymConfig {
LipAsymConfig { max_delta: 1.0 }
}
#[allow(dead_code)]
pub fn new_lip_asym_state() -> LipAsymState {
LipAsymState {
corner_l: 0.0,
corner_r: 0.0,
upper_l: 0.0,
upper_r: 0.0,
}
}
#[allow(dead_code)]
pub fn lip_asym_set_corner(state: &mut LipAsymState, cfg: &LipAsymConfig, left: f32, right: f32) {
state.corner_l = left.clamp(-cfg.max_delta, cfg.max_delta);
state.corner_r = right.clamp(-cfg.max_delta, cfg.max_delta);
}
#[allow(dead_code)]
pub fn lip_asym_set_upper(state: &mut LipAsymState, cfg: &LipAsymConfig, left: f32, right: f32) {
state.upper_l = left.clamp(-cfg.max_delta, cfg.max_delta);
state.upper_r = right.clamp(-cfg.max_delta, cfg.max_delta);
}
#[allow(dead_code)]
pub fn lip_asym_reset(state: &mut LipAsymState) {
*state = new_lip_asym_state();
}
#[allow(dead_code)]
pub fn lip_asym_to_weights(state: &LipAsymState) -> Vec<(String, f32)> {
vec![
("lip_corner_l".to_string(), state.corner_l),
("lip_corner_r".to_string(), state.corner_r),
("lip_upper_l".to_string(), state.upper_l),
("lip_upper_r".to_string(), state.upper_r),
]
}
#[allow(dead_code)]
pub fn lip_asym_to_json(state: &LipAsymState) -> String {
format!(
r#"{{"corner_l":{:.4},"corner_r":{:.4},"upper_l":{:.4},"upper_r":{:.4}}}"#,
state.corner_l, state.corner_r, state.upper_l, state.upper_r
)
}
#[allow(dead_code)]
pub fn lip_asym_magnitude(state: &LipAsymState) -> f32 {
(state.corner_l * state.corner_l
+ state.corner_r * state.corner_r
+ state.upper_l * state.upper_l
+ state.upper_r * state.upper_r)
.sqrt()
}
#[allow(dead_code)]
pub fn lip_asym_clamp(state: &mut LipAsymState, cfg: &LipAsymConfig) {
state.corner_l = state.corner_l.clamp(-cfg.max_delta, cfg.max_delta);
state.corner_r = state.corner_r.clamp(-cfg.max_delta, cfg.max_delta);
state.upper_l = state.upper_l.clamp(-cfg.max_delta, cfg.max_delta);
state.upper_r = state.upper_r.clamp(-cfg.max_delta, cfg.max_delta);
}
#[cfg(test)]
mod tests {
use super::*;
#[test]
fn test_default_config() {
let cfg = default_lip_asym_config();
assert!((cfg.max_delta - 1.0).abs() < 1e-6);
}
#[test]
fn test_new_state_zeros() {
let s = new_lip_asym_state();
assert_eq!(s.corner_l, 0.0);
assert_eq!(s.upper_r, 0.0);
}
#[test]
fn test_set_corner_clamps() {
let cfg = default_lip_asym_config();
let mut s = new_lip_asym_state();
lip_asym_set_corner(&mut s, &cfg, 2.0, -2.0);
assert!((s.corner_l - 1.0).abs() < 1e-6);
assert!((s.corner_r + 1.0).abs() < 1e-6);
}
#[test]
fn test_set_upper_valid() {
let cfg = default_lip_asym_config();
let mut s = new_lip_asym_state();
lip_asym_set_upper(&mut s, &cfg, 0.3, 0.6);
assert!((s.upper_l - 0.3).abs() < 1e-6);
assert!((s.upper_r - 0.6).abs() < 1e-6);
}
#[test]
fn test_reset() {
let cfg = default_lip_asym_config();
let mut s = new_lip_asym_state();
lip_asym_set_corner(&mut s, &cfg, 0.5, 0.5);
lip_asym_reset(&mut s);
assert_eq!(s.corner_l, 0.0);
}
#[test]
fn test_to_weights_count() {
let s = new_lip_asym_state();
let w = lip_asym_to_weights(&s);
assert_eq!(w.len(), 4);
}
#[test]
fn test_to_json_contains_fields() {
let s = new_lip_asym_state();
let j = lip_asym_to_json(&s);
assert!(j.contains("corner_l"));
assert!(j.contains("upper_r"));
}
#[test]
fn test_magnitude_nonzero() {
let cfg = default_lip_asym_config();
let mut s = new_lip_asym_state();
lip_asym_set_corner(&mut s, &cfg, 0.5, 0.0);
assert!(lip_asym_magnitude(&s) > 0.0);
}
#[test]
fn test_clamp() {
let cfg = default_lip_asym_config();
let mut s = new_lip_asym_state();
s.corner_l = 5.0;
s.corner_r = -5.0;
lip_asym_clamp(&mut s, &cfg);
assert!((s.corner_l - 1.0).abs() < 1e-6);
assert!((s.corner_r + 1.0).abs() < 1e-6);
}
}