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 >
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 5349 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [3/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		reversibleShapeIntersection_allshapes
	)

Definition at line 5244 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [4/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeDistance_boxbox
	)

Definition at line 3802 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [5/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeDistance_boxsphere
	)

Definition at line 3845 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [6/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeDistance_conecone
	)

Definition at line 3931 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [7/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeDistance_conecylinder
	)

Definition at line 3974 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [8/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeDistance_cylindercylinder
	)

Definition at line 3888 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [9/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeDistance_ellipsoidellipsoid
	)

Definition at line 4043 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [10/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeDistance_spheresphere
	)

Definition at line 3729 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [11/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeDistanceGJK_boxbox
	)

Definition at line 4939 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [12/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeDistanceGJK_boxsphere
	)

Definition at line 4982 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [13/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeDistanceGJK_conecone
	)

Definition at line 5068 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [14/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeDistanceGJK_cylindercylinder
	)

Definition at line 5025 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [15/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeDistanceGJK_ellipsoidellipsoid
	)

Definition at line 5135 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [16/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeDistanceGJK_spheresphere
	)

Definition at line 4896 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 1093 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [19/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_cylindercone
	)

Definition at line 1166 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [20/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_cylindercylinder
	)

Definition at line 1028 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [21/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_ellipsoidellipsoid
	)

Definition at line 1242 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [22/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_halfspacebox
	)

Definition at line 1666 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [23/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_halfspacecapsule
	)

Definition at line 2473 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [24/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_halfspacecone
	)

Definition at line 3413 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [25/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_halfspacecylinder
	)

Definition at line 2943 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [26/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_halfspaceellipsoid
	)

Definition at line 2003 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [27/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_halfspacesphere
	)

Definition at line 1483 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [28/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_halfspacetriangle
	)

Definition at line 1342 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [29/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_planebox
	)

Definition at line 1756 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [30/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_planecapsule
	)

Definition at line 2696 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [31/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_planecone
	)

Definition at line 3636 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [32/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_planecylinder
	)

Definition at line 3166 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [33/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_planeellipsoid
	)

Definition at line 2226 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [34/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_planesphere
	)

Definition at line 1568 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [35/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersection_planetriangle
	)

Definition at line 1390 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 1288 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [40/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersectionGJK_boxbox
	)

Definition at line 4250 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [41/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersectionGJK_conecone
	)

Definition at line 4508 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [42/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersectionGJK_cylindercone
	)

Definition at line 4583 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [43/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersectionGJK_cylindercylinder
	)

Definition at line 4441 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [44/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersectionGJK_ellipsoidellipsoid
	)

Definition at line 4661 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [45/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersectionGJK_halfspacetriangle
	)

Definition at line 4756 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [46/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersectionGJK_planetriangle
	)

Definition at line 4804 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [47/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersectionGJK_spherebox
	)

Definition at line 4330 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [48/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersectionGJK_spherecapsule
	)

Definition at line 4385 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [49/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersectionGJK_spheresphere
	)

Definition at line 4176 of file test_fcl_geometric_shapes.cpp.

GTEST_TEST() [50/51]

GTEST_TEST	(	FCL_GEOMETRIC_SHAPES	,
		shapeIntersectionGJK_spheretriangle
	)

Definition at line 4708 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 5356 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 5290 of file test_fcl_geometric_shapes.cpp.

test_reversibleShapeIntersection_allshapes()

template<typename S >

void test_reversibleShapeIntersection_allshapes

(

)

Definition at line 5185 of file test_fcl_geometric_shapes.cpp.

test_shapeDistance_boxbox()

template<typename S >

void test_shapeDistance_boxbox

(

)

Definition at line 3736 of file test_fcl_geometric_shapes.cpp.

test_shapeDistance_boxsphere()

template<typename S >

void test_shapeDistance_boxsphere

(

)

Definition at line 3809 of file test_fcl_geometric_shapes.cpp.

test_shapeDistance_conecone()

template<typename S >

void test_shapeDistance_conecone

(

)

Definition at line 3895 of file test_fcl_geometric_shapes.cpp.

test_shapeDistance_conecylinder()

template<typename S >

void test_shapeDistance_conecylinder

(

)

Definition at line 3938 of file test_fcl_geometric_shapes.cpp.

test_shapeDistance_cylindercylinder()

template<typename S >

void test_shapeDistance_cylindercylinder

(

)

Definition at line 3852 of file test_fcl_geometric_shapes.cpp.

test_shapeDistance_ellipsoidellipsoid()

template<typename S >

void test_shapeDistance_ellipsoidellipsoid

(

)

Definition at line 3981 of file test_fcl_geometric_shapes.cpp.

test_shapeDistance_spheresphere()

template<typename S >

void test_shapeDistance_spheresphere

(

)

Definition at line 3667 of file test_fcl_geometric_shapes.cpp.

test_shapeDistanceGJK_boxbox()

template<typename S >

void test_shapeDistanceGJK_boxbox

(

)

Definition at line 4903 of file test_fcl_geometric_shapes.cpp.

test_shapeDistanceGJK_boxsphere()

template<typename S >

void test_shapeDistanceGJK_boxsphere

(

)

Definition at line 4946 of file test_fcl_geometric_shapes.cpp.

test_shapeDistanceGJK_conecone()

template<typename S >

void test_shapeDistanceGJK_conecone

(

)

Definition at line 5032 of file test_fcl_geometric_shapes.cpp.

test_shapeDistanceGJK_cylindercylinder()

template<typename S >

void test_shapeDistanceGJK_cylindercylinder

(

)

Definition at line 4989 of file test_fcl_geometric_shapes.cpp.

test_shapeDistanceGJK_ellipsoidellipsoid()

template<typename S >

void test_shapeDistanceGJK_ellipsoidellipsoid

(

)

Definition at line 5075 of file test_fcl_geometric_shapes.cpp.

test_shapeDistanceGJK_spheresphere()

template<typename S >

void test_shapeDistanceGJK_spheresphere

(

)

Definition at line 4835 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 1035 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersection_cylindercone()

template<typename S >

void test_shapeIntersection_cylindercone

(

)

Definition at line 1100 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 1173 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersection_halfspacebox()

template<typename S >

void test_shapeIntersection_halfspacebox

(

)

Definition at line 1575 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersection_halfspacecapsule()

template<typename S >

void test_shapeIntersection_halfspacecapsule

(

)

Definition at line 2233 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersection_halfspacecone()

template<typename S >

void test_shapeIntersection_halfspacecone

(

)

Definition at line 3173 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersection_halfspacecylinder()

template<typename S >

void test_shapeIntersection_halfspacecylinder

(

)

Definition at line 2703 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersection_halfspaceellipsoid()

template<typename S >

void test_shapeIntersection_halfspaceellipsoid

(

)

Definition at line 1763 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersection_halfspacesphere()

template<typename S >

void test_shapeIntersection_halfspacesphere

(

)

Definition at line 1397 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersection_halfspacetriangle()

template<typename S >

void test_shapeIntersection_halfspacetriangle

(

)

Definition at line 1295 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersection_planebox()

template<typename S >

void test_shapeIntersection_planebox

(

)

Definition at line 1673 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersection_planecapsule()

template<typename S >

void test_shapeIntersection_planecapsule

(

)

Definition at line 2480 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersection_planecone()

template<typename S >

void test_shapeIntersection_planecone

(

)

Definition at line 3420 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersection_planecylinder()

template<typename S >

void test_shapeIntersection_planecylinder

(

)

Definition at line 2950 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersection_planeellipsoid()

template<typename S >

void test_shapeIntersection_planeellipsoid

(

)

Definition at line 2010 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersection_planesphere()

template<typename S >

void test_shapeIntersection_planesphere

(

)

Definition at line 1490 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersection_planetriangle()

template<typename S >

void test_shapeIntersection_planetriangle

(

)

Definition at line 1349 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 1249 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersectionGJK_boxbox()

template<typename S >

void test_shapeIntersectionGJK_boxbox

(

)

Definition at line 4183 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersectionGJK_conecone()

template<typename S >

void test_shapeIntersectionGJK_conecone

(

)

Definition at line 4448 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersectionGJK_cylindercone()

template<typename S >

void test_shapeIntersectionGJK_cylindercone

(

)

Definition at line 4515 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersectionGJK_cylindercylinder()

template<typename S >

void test_shapeIntersectionGJK_cylindercylinder

(

)

Definition at line 4392 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersectionGJK_ellipsoidellipsoid()

template<typename S >

void test_shapeIntersectionGJK_ellipsoidellipsoid

(

)

Definition at line 4590 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersectionGJK_halfspacetriangle()

template<typename S >

void test_shapeIntersectionGJK_halfspacetriangle

(

)

Definition at line 4715 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersectionGJK_planetriangle()

template<typename S >

void test_shapeIntersectionGJK_planetriangle

(

)

Definition at line 4763 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersectionGJK_spherebox()

template<typename S >

void test_shapeIntersectionGJK_spherebox

(

)

Definition at line 4257 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersectionGJK_spherecapsule()

template<typename S >

void test_shapeIntersectionGJK_spherecapsule

(

)

Definition at line 4337 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersectionGJK_spheresphere()

template<typename S >

void test_shapeIntersectionGJK_spheresphere

(

)

Definition at line 4074 of file test_fcl_geometric_shapes.cpp.

test_shapeIntersectionGJK_spheretriangle()

template<typename S >

void test_shapeIntersectionGJK_spheretriangle

(

)

Definition at line 4668 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 5251 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 5142 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.