Fix use of minDiff for angular velocity

nycrat · nycrat · commit 9a7b3e5531f1 · 2026-02-08T09:45:55.000-08:00
diff --git a/src/software/simulated_tests/terminating_validation_functions/robot_state_validation.cpp b/src/software/simulated_tests/terminating_validation_functions/robot_state_validation.cpp
@@ -84,7 +84,7 @@ void robotAtAngularVelocity(RobotId robot_id, std::shared_ptr<World> world_ptr,
             << "There is no robot with ID: " + std::to_string(robot_id);
 
         Robot robot = robot_optional.value();
-        if (robot.angularVelocity().minDiff(angular_velocity) >
+        if ((robot.angularVelocity() - angular_velocity).abs() >
             close_to_angular_velocity_threshold)
         {
             return robot.angularVelocity();

Original file line number	Diff line number	Diff line change
`@@ -84,7 +84,7 @@ void robotAtAngularVelocity(RobotId robot_id, std::shared_ptr<World> world_ptr,`
`84`	`84`	`<< "There is no robot with ID: " + std::to_string(robot_id);`
`85`	`85`
`86`	`86`	`Robot robot = robot_optional.value();`
`87`		`- if (robot.angularVelocity().minDiff(angular_velocity) >`
	`87`	`+ if ((robot.angularVelocity() - angular_velocity).abs() >`
`88`	`88`	`close_to_angular_velocity_threshold)`
`89`	`89`	`{`
`90`	`90`	`return robot.angularVelocity();`