update asmc tests

Author: MaxPacheco02

test/asmc_test.cpp

@@ -28,19 +28,3 @@ TEST_F(ASMCTest, ReachesVelocityAndHeading){
   EXPECT_NEAR(modelState.u, setpoint.velocity_setpoint, 0.1);
   EXPECT_NEAR(modelState.pose_psi, setpoint.heading_setpoint, 0.5);
 }
-
-TEST_F(ASMCTest, UpdateNReachesVelAndHeading){
-  auto modelState = model.update(0, 0);
-  ASMCOutput out{};
-  ASMCSetpoint setpoint{};
-
-  //Janky code, this is actuall ang vel, and accel
-  setpoint.heading_setpoint = M_PI_2;
-  setpoint.velocity_setpoint = 0.5;
-  std::vector<ModelState> modelStates;
-  std::vector<ASMCOutput> asmcOutputs;
-  std::tie(modelStates, asmcOutputs) = ControllerUtils::update_n(model, controller, setpoint, n);
-
-  EXPECT_GT(modelStates[n-1].u, 0);
-  EXPECT_GT(modelStates[n-1].pose_psi, 0);
-}