fix(contol): fix the lat controller test bug

ApolloAuto · Apr 16, 2024 · 22cb4d8 · 22cb4d8
1 parent 0ac55bb
commit 22cb4d8
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/modules/control/controllers/lat_based_lqr_controller/lat_controller_test.cc b/modules/control/controllers/lat_based_lqr_controller/lat_controller_test.cc
@@ -49,9 +49,10 @@ class LatControllerTest : public ::testing::Test, LatController {
                             const double linear_v, const double angular_v,
                             const double linear_a,
                             const TrajectoryAnalyzer &trajectory_analyzer,
-                            SimpleLateralDebug *debug) {
+                            SimpleLateralDebug *debug,
+                            const canbus::Chassis *chassis) {
     LatController::ComputeLateralErrors(x, y, theta, linear_v, angular_v,
-                                        linear_a, trajectory_analyzer, debug);
+                                        linear_a, trajectory_analyzer, debug, chassis);
   }
 
  protected:
@@ -104,7 +105,7 @@ TEST_F(LatControllerTest, ComputeLateralErrors) {
   ComputeLateralErrors(
       vehicle_state->x(), vehicle_state->y(), vehicle_state->heading(),
       vehicle_state->linear_velocity(), vehicle_state->angular_velocity(),
-      vehicle_state->linear_acceleration(), trajectory_analyzer, debug);
+      vehicle_state->linear_acceleration(), trajectory_analyzer, debug, &chassis_pb);
 
   double theta_error_expected = -0.03549;
   double theta_error_dot_expected = 0.0044552856731;