fix: expectedの値を手計算で算出した値に修正

test/MileageTest.cpp

@@ -16,9 +16,26 @@ namespace etrobocon2024_test {
     double leftAngle = 40.0;
     double rightWheelMileage = 2.0 * rightAngle * radius * M_PI / 360.0;
     double leftWheelMileage = 2.0 * leftAngle * radius * M_PI / 360.0;
-    double expected = (rightWheelMileage + leftWheelMileage) / 2.0;
+    // 計算過程
+    // 1.右車輪の累計走行距離を算出
+    // M_PI = 3.14: rightWheelMileage = 2.0 * 30.0 * 50.0 * 3.14 / 360.0 = 26.1666...
+    // M_PI = 3.15: rightWheelMileage = 2.0 * 30.0 * 50.0 * 3.15 / 360.0 = 26.25
+    // 2.左車輪の累計走行距離を算出
+    // M_PI = 3.14: leftWheelMileage = 2.0 * 40.0 * 50.0 * 3.14 / 360.0 = 32.1111...
+    // M_PI = 3.15: leftWheelMileage = 2.0 * 40.0 * 50.0 * 3.15 / 360.0 = 35
+    // 3.両車輪の累計走行距離の平均を算出
+    // double expected = (rightWheelMileage + leftWheelMileage) / 2.0;
+    // M_PI = 3.14: (26.1666... + 32.1111...) / 2 = 29.13888...
+    // M_PI = 3.15: (26.25 + 35) / 2 = 30.625
+    double expected_min = 29.13888;
+    double expected_max = 30.625;
+
+    // actual: 30.543261909900767
     double actual = Mileage::calculateMileage(rightAngle, leftAngle);
-    EXPECT_DOUBLE_EQ(expected, actual);
+
+    // M_PIが3.14で計算した値よりも大きいアサーションと、3.15で計算した値よりも小さいアサーションを両方満たすか
+    EXPECT_LT(expected_min, actual);
+    EXPECT_GT(expected_max, actual);
   }
 
   TEST(MileageTest, calculateMileageMinus)
@@ -28,9 +45,11 @@ namespace etrobocon2024_test {
     double leftAngle = -40.0;
     double rightWheelMileage = 2.0 * rightAngle * radius * M_PI / 360.0;
     double leftWheelMileage = 2.0 * leftAngle * radius * M_PI / 360.0;
-    double expected = (rightWheelMileage + leftWheelMileage) / 2.0;
+    double expected_min = -30.625;
+    double expected_max = -29.13888;
     double actual = Mileage::calculateMileage(rightAngle, leftAngle);
-    EXPECT_DOUBLE_EQ(expected, actual);
+    EXPECT_LT(expected_min, actual);
+    EXPECT_GT(expected_max, actual);
   }
 
   TEST(MileageTest, calculateMileageZero)
@@ -40,7 +59,7 @@ namespace etrobocon2024_test {
     double leftAngle = 0.0;
     double rightWheelMileage = 2.0 * rightAngle * radius * M_PI / 360.0;
     double leftWheelMileage = 2.0 * leftAngle * radius * M_PI / 360.0;
-    double expected = (rightWheelMileage + leftWheelMileage) / 2.0;
+    double expected = 0.0;
     double actual = Mileage::calculateMileage(rightAngle, leftAngle);
     EXPECT_DOUBLE_EQ(expected, actual);
   }