Functions
test_fcl_geometric_shapes.cpp File Reference
#include <array>
#include <iostream>
#include <limits>
#include <gtest/gtest.h>
#include "fcl/common/unused.h"
#include "fcl/math/motion/translation_motion.h"
#include "fcl/geometry/shape/cone.h"
#include "fcl/geometry/shape/capsule.h"
#include "fcl/geometry/shape/ellipsoid.h"
#include "fcl/geometry/shape/halfspace.h"
#include "fcl/geometry/shape/plane.h"
#include "fcl/narrowphase/detail/gjk_solver_indep.h"
#include "fcl/narrowphase/detail/gjk_solver_libccd.h"
#include "fcl/narrowphase/collision.h"
#include "test_fcl_utility.h"
Include dependency graph for test_fcl_geometric_shapes.cpp:

Go to the source code of this file.

Functions

template<typename Shape1 , typename Shape2 >
bool checkContactPointds (const Shape1 &s1, const Transform3< typename Shape1::S > &tf1, const Shape2 &s2, const Transform3< typename Shape1::S > &tf2, GJKSolverType solver_type, const ContactPoint< typename Shape1::S > &expected, const ContactPoint< typename Shape1::S > &actual, bool check_position=false, bool check_depth=false, bool check_normal=false, bool check_opposite_normal=false, typename Shape1::S tol=1e-9)
 
template<typename S >
bool compareContactPointds1 (const Vector3< S > &c1, const Vector3< S > &c2)
 
template<typename S >
bool compareContactPointds2 (const ContactPoint< S > &cp1, const ContactPoint< S > &cp2)
 
template<typename S >
std::array< S, 6 > & extents ()
 
template<typename S >
void getContactPointdsFromResult (std::vector< ContactPoint< S >> &contacts, const CollisionResult< S > &result)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, gjkcache)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, reversibleShapeDistance_allshapes)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, reversibleShapeIntersection_allshapes)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeDistance_boxbox)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeDistance_boxsphere)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeDistance_conecone)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeDistance_conecylinder)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeDistance_cylindercylinder)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeDistance_ellipsoidellipsoid)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeDistance_spheresphere)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeDistanceGJK_boxbox)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeDistanceGJK_boxsphere)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeDistanceGJK_conecone)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeDistanceGJK_cylindercylinder)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeDistanceGJK_ellipsoidellipsoid)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeDistanceGJK_spheresphere)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_boxbox)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_conecone)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_cylindercone)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_cylindercylinder)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_ellipsoidellipsoid)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_halfspacebox)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_halfspacecapsule)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_halfspacecone)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_halfspacecylinder)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_halfspaceellipsoid)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_halfspacesphere)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_halfspacetriangle)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_planebox)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_planecapsule)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_planecone)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_planecylinder)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_planeellipsoid)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_planesphere)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_planetriangle)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_spherebox)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_spherecapsule)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_spheresphere)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersection_spheretriangle)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersectionGJK_boxbox)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersectionGJK_conecone)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersectionGJK_cylindercone)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersectionGJK_cylindercylinder)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersectionGJK_ellipsoidellipsoid)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersectionGJK_halfspacetriangle)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersectionGJK_planetriangle)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersectionGJK_spherebox)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersectionGJK_spherecapsule)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersectionGJK_spheresphere)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, shapeIntersectionGJK_spheretriangle)
 
 GTEST_TEST (FCL_GEOMETRIC_SHAPES, sphere_shape)
 
template<typename Shape1 , typename Shape2 >
bool inspectContactPointds (const Shape1 &s1, const Transform3< typename Shape1::S > &tf1, const Shape2 &s2, const Transform3< typename Shape1::S > &tf2, GJKSolverType solver_type, const std::vector< ContactPoint< typename Shape1::S >> &expected_contacts, const std::vector< ContactPoint< typename Shape1::S >> &actual_contacts, bool check_position=false, bool check_depth=false, bool check_normal=false, bool check_opposite_normal=false, typename Shape1::S tol=1e-9)
 
int main (int argc, char *argv[])
 
template<typename Shape1 , typename Shape2 >
void printComparisonError (const std::string &comparison_type, const Shape1 &s1, const Transform3< typename Shape1::S > &tf1, const Shape2 &s2, const Transform3< typename Shape1::S > &tf2, GJKSolverType solver_type, const Vector3< typename Shape1::S > &expected_contact_or_normal, const Vector3< typename Shape1::S > &actual_contact_or_normal, bool check_opposite_normal, typename Shape1::S tol)
 
template<typename Shape1 , typename Shape2 >
void printComparisonError (const std::string &comparison_type, const Shape1 &s1, const Transform3< typename Shape1::S > &tf1, const Shape2 &s2, const Transform3< typename Shape1::S > &tf2, GJKSolverType solver_type, typename Shape1::S expected_depth, typename Shape1::S actual_depth, typename Shape1::S tol)
 
template<typename S >
detail::GJKSolver_libccd< S > & solver1 ()
 
template<typename S >
detail::GJKSolver_indep< S > & solver2 ()
 
template<typename S >
void test_gjkcache ()
 
template<typename S >
void test_reversibleShapeDistance_allshapes ()
 
template<typename S >
void test_reversibleShapeIntersection_allshapes ()
 
template<typename S >
void test_shapeDistance_boxbox ()
 
template<typename S >
void test_shapeDistance_boxsphere ()
 
template<typename S >
void test_shapeDistance_conecone ()
 
template<typename S >
void test_shapeDistance_conecylinder ()
 
template<typename S >
void test_shapeDistance_cylindercylinder ()
 
template<typename S >
void test_shapeDistance_ellipsoidellipsoid ()
 
template<typename S >
void test_shapeDistance_spheresphere ()
 
template<typename S >
void test_shapeDistanceGJK_boxbox ()
 
template<typename S >
void test_shapeDistanceGJK_boxsphere ()
 
template<typename S >
void test_shapeDistanceGJK_conecone ()
 
template<typename S >
void test_shapeDistanceGJK_cylindercylinder ()
 
template<typename S >
void test_shapeDistanceGJK_ellipsoidellipsoid ()
 
template<typename S >
void test_shapeDistanceGJK_spheresphere ()
 
template<typename S >
void test_shapeIntersection_boxbox ()
 
template<typename S >
void test_shapeIntersection_conecone ()
 
template<typename S >
void test_shapeIntersection_cylindercone ()
 
template<typename S >
void test_shapeIntersection_cylindercylinder ()
 
template<typename S >
void test_shapeIntersection_ellipsoidellipsoid ()
 
template<typename S >
void test_shapeIntersection_halfspacebox ()
 
template<typename S >
void test_shapeIntersection_halfspacecapsule ()
 
template<typename S >
void test_shapeIntersection_halfspacecone ()
 
template<typename S >
void test_shapeIntersection_halfspacecylinder ()
 
template<typename S >
void test_shapeIntersection_halfspaceellipsoid ()
 
template<typename S >
void test_shapeIntersection_halfspacesphere ()
 
template<typename S >
void test_shapeIntersection_halfspacetriangle ()
 
template<typename S >
void test_shapeIntersection_planebox ()
 
template<typename S >
void test_shapeIntersection_planecapsule ()
 
template<typename S >
void test_shapeIntersection_planecone ()
 
template<typename S >
void test_shapeIntersection_planecylinder ()
 
template<typename S >
void test_shapeIntersection_planeellipsoid ()
 
template<typename S >
void test_shapeIntersection_planesphere ()
 
template<typename S >
void test_shapeIntersection_planetriangle ()
 
template<typename S >
void test_shapeIntersection_spherebox ()
 
template<typename S >
void test_shapeIntersection_spherecapsule ()
 
template<typename S >
void test_shapeIntersection_spheresphere ()
 
template<typename S >
void test_shapeIntersection_spheretriangle ()
 
template<typename S >
void test_shapeIntersectionGJK_boxbox ()
 
template<typename S >
void test_shapeIntersectionGJK_conecone ()
 
template<typename S >
void test_shapeIntersectionGJK_cylindercone ()
 
template<typename S >
void test_shapeIntersectionGJK_cylindercylinder ()
 
template<typename S >
void test_shapeIntersectionGJK_ellipsoidellipsoid ()
 
template<typename S >
void test_shapeIntersectionGJK_halfspacetriangle ()
 
template<typename S >
void test_shapeIntersectionGJK_planetriangle ()
 
template<typename S >
void test_shapeIntersectionGJK_spherebox ()
 
template<typename S >
void test_shapeIntersectionGJK_spherecapsule ()
 
template<typename S >
void test_shapeIntersectionGJK_spheresphere ()
 
template<typename S >
void test_shapeIntersectionGJK_spheretriangle ()
 
template<typename S >
void test_sphere_shape ()
 
template<typename Derived >
void testBoxBoxContactPointds (const Eigen::MatrixBase< Derived > &R)
 
template<typename Shape1 , typename Shape2 >
void testReversibleShapeDistance (const Shape1 &s1, const Shape2 &s2, typename Shape2::S distance)
 
template<typename Shape1 , typename Shape2 >
void testReversibleShapeIntersection (const Shape1 &s1, const Shape2 &s2, typename Shape2::S distance)
 
template<typename Shape1 , typename Shape2 >
void testShapeIntersection (const Shape1 &s1, const Transform3< typename Shape1::S > &tf1, const Shape2 &s2, const Transform3< typename Shape1::S > &tf2, GJKSolverType solver_type, bool expected_res, const std::vector< ContactPoint< typename Shape1::S >> &expected_contacts=std::vector< ContactPoint< typename Shape1::S >>(), bool check_position=true, bool check_depth=true, bool check_normal=true, bool check_opposite_normal=false, typename Shape1::S tol=1e-9)
 
template<typename S >
tolerance ()
 
template<>
float tolerance ()
 

Function Documentation

◆ checkContactPointds()

template<typename Shape1 , typename Shape2 >
bool checkContactPointds ( const Shape1 &  s1,
const Transform3< typename Shape1::S > &  tf1,
const Shape2 &  s2,
const Transform3< typename Shape1::S > &  tf2,
GJKSolverType  solver_type,
const ContactPoint< typename Shape1::S > &  expected,
const ContactPoint< typename Shape1::S > &  actual,
bool  check_position = false,
bool  check_depth = false,
bool  check_normal = false,
bool  check_opposite_normal = false,
typename Shape1::S  tol = 1e-9 
)

Definition at line 232 of file test_fcl_geometric_shapes.cpp.

◆ compareContactPointds1()

template<typename S >
bool compareContactPointds1 ( const Vector3< S > &  c1,
const Vector3< S > &  c2 
)

Definition at line 653 of file test_fcl_geometric_shapes.cpp.

◆ compareContactPointds2()

template<typename S >
bool compareContactPointds2 ( const ContactPoint< S > &  cp1,
const ContactPoint< S > &  cp2 
)

Definition at line 659 of file test_fcl_geometric_shapes.cpp.

◆ extents()

template<typename S >
std::array<S, 6>& extents ( )

Definition at line 63 of file test_fcl_geometric_shapes.cpp.

◆ getContactPointdsFromResult()

template<typename S >
void getContactPointdsFromResult ( std::vector< ContactPoint< S >> &  contacts,
const CollisionResult< S > &  result 
)

Definition at line 412 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [1/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
gjkcache   
)

Definition at line 171 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [2/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
reversibleShapeDistance_allshapes   
)

Definition at line 5342 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [3/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
reversibleShapeIntersection_allshapes   
)

Definition at line 5237 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [4/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeDistance_boxbox   
)

Definition at line 3795 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [5/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeDistance_boxsphere   
)

Definition at line 3838 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [6/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeDistance_conecone   
)

Definition at line 3924 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [7/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeDistance_conecylinder   
)

Definition at line 3967 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [8/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeDistance_cylindercylinder   
)

Definition at line 3881 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [9/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeDistance_ellipsoidellipsoid   
)

Definition at line 4036 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [10/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeDistance_spheresphere   
)

Definition at line 3722 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [11/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeDistanceGJK_boxbox   
)

Definition at line 4932 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [12/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeDistanceGJK_boxsphere   
)

Definition at line 4975 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [13/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeDistanceGJK_conecone   
)

Definition at line 5061 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [14/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeDistanceGJK_cylindercylinder   
)

Definition at line 5018 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [15/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeDistanceGJK_ellipsoidellipsoid   
)

Definition at line 5128 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [16/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeDistanceGJK_spheresphere   
)

Definition at line 4889 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [17/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_boxbox   
)

Definition at line 828 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [18/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_conecone   
)

Definition at line 1086 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [19/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_cylindercone   
)

Definition at line 1159 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [20/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_cylindercylinder   
)

Definition at line 1021 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [21/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_ellipsoidellipsoid   
)

Definition at line 1235 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [22/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_halfspacebox   
)

Definition at line 1659 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [23/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_halfspacecapsule   
)

Definition at line 2466 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [24/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_halfspacecone   
)

Definition at line 3406 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [25/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_halfspacecylinder   
)

Definition at line 2936 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [26/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_halfspaceellipsoid   
)

Definition at line 1996 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [27/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_halfspacesphere   
)

Definition at line 1476 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [28/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_halfspacetriangle   
)

Definition at line 1335 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [29/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_planebox   
)

Definition at line 1749 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [30/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_planecapsule   
)

Definition at line 2689 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [31/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_planecone   
)

Definition at line 3629 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [32/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_planecylinder   
)

Definition at line 3159 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [33/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_planeellipsoid   
)

Definition at line 2219 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [34/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_planesphere   
)

Definition at line 1561 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [35/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_planetriangle   
)

Definition at line 1383 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [36/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_spherebox   
)

Definition at line 899 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [37/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_spherecapsule   
)

Definition at line 965 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [38/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_spheresphere   
)

Definition at line 646 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [39/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersection_spheretriangle   
)

Definition at line 1281 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [40/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersectionGJK_boxbox   
)

Definition at line 4243 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [41/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersectionGJK_conecone   
)

Definition at line 4501 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [42/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersectionGJK_cylindercone   
)

Definition at line 4576 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [43/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersectionGJK_cylindercylinder   
)

Definition at line 4434 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [44/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersectionGJK_ellipsoidellipsoid   
)

Definition at line 4654 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [45/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersectionGJK_halfspacetriangle   
)

Definition at line 4749 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [46/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersectionGJK_planetriangle   
)

Definition at line 4797 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [47/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersectionGJK_spherebox   
)

Definition at line 4323 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [48/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersectionGJK_spherecapsule   
)

Definition at line 4378 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [49/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersectionGJK_spheresphere   
)

Definition at line 4169 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [50/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
shapeIntersectionGJK_spheretriangle   
)

Definition at line 4701 of file test_fcl_geometric_shapes.cpp.

◆ GTEST_TEST() [51/51]

GTEST_TEST ( FCL_GEOMETRIC_SHAPES  ,
sphere_shape   
)

Definition at line 104 of file test_fcl_geometric_shapes.cpp.

◆ inspectContactPointds()

template<typename Shape1 , typename Shape2 >
bool inspectContactPointds ( const Shape1 &  s1,
const Transform3< typename Shape1::S > &  tf1,
const Shape2 &  s2,
const Transform3< typename Shape1::S > &  tf2,
GJKSolverType  solver_type,
const std::vector< ContactPoint< typename Shape1::S >> &  expected_contacts,
const std::vector< ContactPoint< typename Shape1::S >> &  actual_contacts,
bool  check_position = false,
bool  check_depth = false,
bool  check_normal = false,
bool  check_opposite_normal = false,
typename Shape1::S  tol = 1e-9 
)

Definition at line 277 of file test_fcl_geometric_shapes.cpp.

◆ main()

int main ( int  argc,
char *  argv[] 
)

Definition at line 5349 of file test_fcl_geometric_shapes.cpp.

◆ printComparisonError() [1/2]

template<typename Shape1 , typename Shape2 >
void printComparisonError ( const std::string &  comparison_type,
const Shape1 &  s1,
const Transform3< typename Shape1::S > &  tf1,
const Shape2 &  s2,
const Transform3< typename Shape1::S > &  tf2,
GJKSolverType  solver_type,
const Vector3< typename Shape1::S > &  expected_contact_or_normal,
const Vector3< typename Shape1::S > &  actual_contact_or_normal,
bool  check_opposite_normal,
typename Shape1::S  tol 
)

Definition at line 178 of file test_fcl_geometric_shapes.cpp.

◆ printComparisonError() [2/2]

template<typename Shape1 , typename Shape2 >
void printComparisonError ( const std::string &  comparison_type,
const Shape1 &  s1,
const Transform3< typename Shape1::S > &  tf1,
const Shape2 &  s2,
const Transform3< typename Shape1::S > &  tf2,
GJKSolverType  solver_type,
typename Shape1::S  expected_depth,
typename Shape1::S  actual_depth,
typename Shape1::S  tol 
)

Definition at line 208 of file test_fcl_geometric_shapes.cpp.

◆ solver1()

template<typename S >
detail::GJKSolver_libccd<S>& solver1 ( )

Definition at line 70 of file test_fcl_geometric_shapes.cpp.

◆ solver2()

template<typename S >
detail::GJKSolver_indep<S>& solver2 ( )

Definition at line 77 of file test_fcl_geometric_shapes.cpp.

◆ test_gjkcache()

template<typename S >
void test_gjkcache ( )

test exploiting spatial coherence

test without exploiting spatial coherence

Definition at line 111 of file test_fcl_geometric_shapes.cpp.

◆ test_reversibleShapeDistance_allshapes()

template<typename S >
void test_reversibleShapeDistance_allshapes ( )

Definition at line 5283 of file test_fcl_geometric_shapes.cpp.

◆ test_reversibleShapeIntersection_allshapes()

template<typename S >
void test_reversibleShapeIntersection_allshapes ( )

Definition at line 5178 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeDistance_boxbox()

template<typename S >
void test_shapeDistance_boxbox ( )

Definition at line 3729 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeDistance_boxsphere()

template<typename S >
void test_shapeDistance_boxsphere ( )

Definition at line 3802 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeDistance_conecone()

template<typename S >
void test_shapeDistance_conecone ( )

Definition at line 3888 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeDistance_conecylinder()

template<typename S >
void test_shapeDistance_conecylinder ( )

Definition at line 3931 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeDistance_cylindercylinder()

template<typename S >
void test_shapeDistance_cylindercylinder ( )

Definition at line 3845 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeDistance_ellipsoidellipsoid()

template<typename S >
void test_shapeDistance_ellipsoidellipsoid ( )

Definition at line 3974 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeDistance_spheresphere()

template<typename S >
void test_shapeDistance_spheresphere ( )

Definition at line 3660 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeDistanceGJK_boxbox()

template<typename S >
void test_shapeDistanceGJK_boxbox ( )

Definition at line 4896 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeDistanceGJK_boxsphere()

template<typename S >
void test_shapeDistanceGJK_boxsphere ( )

Definition at line 4939 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeDistanceGJK_conecone()

template<typename S >
void test_shapeDistanceGJK_conecone ( )

Definition at line 5025 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeDistanceGJK_cylindercylinder()

template<typename S >
void test_shapeDistanceGJK_cylindercylinder ( )

Definition at line 4982 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeDistanceGJK_ellipsoidellipsoid()

template<typename S >
void test_shapeDistanceGJK_ellipsoidellipsoid ( )

Definition at line 5068 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeDistanceGJK_spheresphere()

template<typename S >
void test_shapeDistanceGJK_spheresphere ( )

Definition at line 4828 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_boxbox()

template<typename S >
void test_shapeIntersection_boxbox ( )

Definition at line 750 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_conecone()

template<typename S >
void test_shapeIntersection_conecone ( )

Definition at line 1028 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_cylindercone()

template<typename S >
void test_shapeIntersection_cylindercone ( )

Definition at line 1093 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_cylindercylinder()

template<typename S >
void test_shapeIntersection_cylindercylinder ( )

Definition at line 972 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_ellipsoidellipsoid()

template<typename S >
void test_shapeIntersection_ellipsoidellipsoid ( )

Definition at line 1166 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_halfspacebox()

template<typename S >
void test_shapeIntersection_halfspacebox ( )

Definition at line 1568 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_halfspacecapsule()

template<typename S >
void test_shapeIntersection_halfspacecapsule ( )

Definition at line 2226 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_halfspacecone()

template<typename S >
void test_shapeIntersection_halfspacecone ( )

Definition at line 3166 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_halfspacecylinder()

template<typename S >
void test_shapeIntersection_halfspacecylinder ( )

Definition at line 2696 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_halfspaceellipsoid()

template<typename S >
void test_shapeIntersection_halfspaceellipsoid ( )

Definition at line 1756 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_halfspacesphere()

template<typename S >
void test_shapeIntersection_halfspacesphere ( )

Definition at line 1390 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_halfspacetriangle()

template<typename S >
void test_shapeIntersection_halfspacetriangle ( )

Definition at line 1288 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_planebox()

template<typename S >
void test_shapeIntersection_planebox ( )

Definition at line 1666 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_planecapsule()

template<typename S >
void test_shapeIntersection_planecapsule ( )

Definition at line 2473 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_planecone()

template<typename S >
void test_shapeIntersection_planecone ( )

Definition at line 3413 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_planecylinder()

template<typename S >
void test_shapeIntersection_planecylinder ( )

Definition at line 2943 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_planeellipsoid()

template<typename S >
void test_shapeIntersection_planeellipsoid ( )

Definition at line 2003 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_planesphere()

template<typename S >
void test_shapeIntersection_planesphere ( )

Definition at line 1483 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_planetriangle()

template<typename S >
void test_shapeIntersection_planetriangle ( )

Definition at line 1342 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_spherebox()

template<typename S >
void test_shapeIntersection_spherebox ( )

Definition at line 835 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_spherecapsule()

template<typename S >
void test_shapeIntersection_spherecapsule ( )

Definition at line 906 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_spheresphere()

template<typename S >
void test_shapeIntersection_spheresphere ( )

Definition at line 544 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersection_spheretriangle()

template<typename S >
void test_shapeIntersection_spheretriangle ( )

Definition at line 1242 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersectionGJK_boxbox()

template<typename S >
void test_shapeIntersectionGJK_boxbox ( )

Definition at line 4176 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersectionGJK_conecone()

template<typename S >
void test_shapeIntersectionGJK_conecone ( )

Definition at line 4441 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersectionGJK_cylindercone()

template<typename S >
void test_shapeIntersectionGJK_cylindercone ( )

Definition at line 4508 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersectionGJK_cylindercylinder()

template<typename S >
void test_shapeIntersectionGJK_cylindercylinder ( )

Definition at line 4385 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersectionGJK_ellipsoidellipsoid()

template<typename S >
void test_shapeIntersectionGJK_ellipsoidellipsoid ( )

Definition at line 4583 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersectionGJK_halfspacetriangle()

template<typename S >
void test_shapeIntersectionGJK_halfspacetriangle ( )

Definition at line 4708 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersectionGJK_planetriangle()

template<typename S >
void test_shapeIntersectionGJK_planetriangle ( )

Definition at line 4756 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersectionGJK_spherebox()

template<typename S >
void test_shapeIntersectionGJK_spherebox ( )

Definition at line 4250 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersectionGJK_spherecapsule()

template<typename S >
void test_shapeIntersectionGJK_spherecapsule ( )

Definition at line 4330 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersectionGJK_spheresphere()

template<typename S >
void test_shapeIntersectionGJK_spheresphere ( )

Definition at line 4067 of file test_fcl_geometric_shapes.cpp.

◆ test_shapeIntersectionGJK_spheretriangle()

template<typename S >
void test_shapeIntersectionGJK_spheretriangle ( )

Definition at line 4661 of file test_fcl_geometric_shapes.cpp.

◆ test_sphere_shape()

template<typename S >
void test_sphere_shape ( )

Definition at line 93 of file test_fcl_geometric_shapes.cpp.

◆ testBoxBoxContactPointds()

template<typename Derived >
void testBoxBoxContactPointds ( const Eigen::MatrixBase< Derived > &  R)

Definition at line 689 of file test_fcl_geometric_shapes.cpp.

◆ testReversibleShapeDistance()

template<typename Shape1 , typename Shape2 >
void testReversibleShapeDistance ( const Shape1 &  s1,
const Shape2 &  s2,
typename Shape2::S  distance 
)

Definition at line 5244 of file test_fcl_geometric_shapes.cpp.

◆ testReversibleShapeIntersection()

template<typename Shape1 , typename Shape2 >
void testReversibleShapeIntersection ( const Shape1 &  s1,
const Shape2 &  s2,
typename Shape2::S  distance 
)

Definition at line 5135 of file test_fcl_geometric_shapes.cpp.

◆ testShapeIntersection()

template<typename Shape1 , typename Shape2 >
void testShapeIntersection ( const Shape1 &  s1,
const Transform3< typename Shape1::S > &  tf1,
const Shape2 &  s2,
const Transform3< typename Shape1::S > &  tf2,
GJKSolverType  solver_type,
bool  expected_res,
const std::vector< ContactPoint< typename Shape1::S >> &  expected_contacts = std::vector<ContactPoint<typename Shape1::S>>(),
bool  check_position = true,
bool  check_depth = true,
bool  check_normal = true,
bool  check_opposite_normal = false,
typename Shape1::S  tol = 1e-9 
)

Definition at line 428 of file test_fcl_geometric_shapes.cpp.

◆ tolerance() [1/2]

template<typename S >
S tolerance ( )

Definition at line 87 of file test_fcl_geometric_shapes.cpp.

◆ tolerance() [2/2]

template<>
double tolerance ( )

Definition at line 87 of file test_fcl_geometric_shapes.cpp.



fcl
Author(s):
autogenerated on Wed Feb 17 2021 03:40:09