<commit_before>#include "test_convergence.h"
#include "parameters.h"

const double ConvergenceTest::m_roll_tol = 2.5 * constants::as_radians;
const double ConvergenceTest::m_steer_tol = 0.1 * constants::as_degrees;
const double ConvergenceTest::m_roll_rate_tol = 10 * ConvergenceTest::m_roll_tol;
const double ConvergenceTest::m_steer_rate_tol = ConvergenceTest::m_steer_tol;
const double ConvergenceTest::m_dt = 1.0/200;
const uint32_t ConvergenceTest::m_N = 1000;
const uint32_t ConvergenceTest::m_n = 100;

void ConvergenceTest::SetUp() {
    // set initial state
    m_x << 0, 10, 10, 0; // define x in degrees
    m_x *= constants::as_radians;

    m_bicycle = new model::Bicycle(parameters::benchmark::M, parameters::benchmark::C1,
            parameters::benchmark::K0, parameters::benchmark::K2, GetParam(), m_dt);<commit_msg>Fix convergence test tolerances<commit_after>#include "test_convergence.h"
#include "parameters.h"

const double ConvergenceTest::m_roll_tol = 0.1 * constants::as_radians;
const double ConvergenceTest::m_steer_tol = 0.1 * constants::as_radians;
const double ConvergenceTest::m_roll_rate_tol = 10 * ConvergenceTest::m_roll_tol;
const double ConvergenceTest::m_steer_rate_tol = 10 * ConvergenceTest::m_steer_tol;
const double ConvergenceTest::m_dt = 1.0/200;
const uint32_t ConvergenceTest::m_N = 1000;
const uint32_t ConvergenceTest::m_n = 100;

void ConvergenceTest::SetUp() {
    // set initial state
    m_x << 5, 5, 0, 0; // define x in degrees
    m_x *= constants::as_radians;

    m_bicycle = new model::Bicycle(parameters::benchmark::M, parameters::benchmark::C1,
            parameters::benchmark::K0, parameters::benchmark::K2, GetParam(), m_dt);
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