34     PoseRateLimiter limiter(Options{.maxTranslationalVelocity = 10, .maxRotationalVelocity = 10});  in TEST()  local
35     limiter.setTarget(target);  in TEST()
36     EXPECT_EQ(limiter.calculatePose(1000), target);  in TEST()
42     PoseRateLimiter limiter(Options{});  in TEST()  local
43     limiter.setTarget(target1);  in TEST()
44     EXPECT_EQ(limiter.calculatePose(0), target1);  in TEST()
45     limiter.setTarget(target2);  in TEST()
46     EXPECT_EQ(limiter.calculatePose(0), target2);  in TEST()
47     limiter.setTarget(target1);  in TEST()
48     EXPECT_EQ(limiter.calculatePose(0), target1);  in TEST()
54     PoseRateLimiter limiter(Options{.maxTranslationalVelocity = 1, .maxRotationalVelocity = 10});  in TEST()  local
55     limiter.setTarget(pose2);  in TEST()
56     EXPECT_EQ(limiter.calculatePose(1000), pose2);  in TEST()
59     limiter.setTarget(pose1);  in TEST()
60     EXPECT_EQ(limiter.calculatePose(1001), pose1);  in TEST()
63     limiter.enable();  in TEST()
64     limiter.setTarget(pose2);  in TEST()
65     EXPECT_EQ(limiter.calculatePose(1002), Pose3f({1, 2, 4}, rotateZ(M_PI * 1 / 8)));  in TEST()
66     limiter.setTarget(pose2);  in TEST()
67     EXPECT_EQ(limiter.calculatePose(1003), Pose3f({1, 2, 5}, rotateZ(M_PI * 2 / 8)));  in TEST()
69     limiter.setTarget(pose2);  in TEST()
70     EXPECT_EQ(limiter.calculatePose(1005), Pose3f({1, 2, 7}, rotateZ(M_PI * 4 / 8)));  in TEST()
71     limiter.setTarget(pose2);  in TEST()
72     EXPECT_EQ(limiter.calculatePose(1006), pose2);  in TEST()
75     limiter.setTarget(pose1);  in TEST()
76     EXPECT_EQ(limiter.calculatePose(1007), pose1);  in TEST()
82     PoseRateLimiter limiter(Options{.maxTranslationalVelocity = 1, .maxRotationalVelocity = 10});  in TEST()  local
83     limiter.setTarget(pose1);  in TEST()
84     EXPECT_EQ(limiter.calculatePose(1000), pose1);  in TEST()
87     limiter.enable();  in TEST()
88     limiter.setTarget(pose2);  in TEST()
89     EXPECT_EQ(limiter.calculatePose(1001), Pose3f({1, 2, 4}, rotateZ(M_PI * 1 / 8)));  in TEST()
92     limiter.reset(pose2);  in TEST()
93     EXPECT_EQ(limiter.calculatePose(1002), pose2);  in TEST()
96     limiter.setTarget(pose1);  in TEST()
97     EXPECT_EQ(limiter.calculatePose(1003), pose1);  in TEST()