test_gjk_libccd-inl_epa.cpp File Reference

#include "fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h"
#include <array>
#include <memory>
#include <gtest/gtest.h>
#include "fcl/narrowphase/detail/convexity_based_algorithm/polytope.h"
#include "expect_throws_message.h"

Include dependency graph for test_gjk_libccd-inl_epa.cpp:

Go to the source code of this file.

Classes
class	fcl::detail::EquilateralTetrahedron
class	fcl::detail::Hexagram
class	fcl::detail::Polytope
class	fcl::detail::Tetrahedron

Namespaces
	fcl
	Main namespace.
	fcl::detail

Functions
void	fcl::detail::CheckComputeVisiblePatch (const Polytope &polytope, ccd_pt_face_t &face, const ccd_vec3_t &new_vertex, const std::unordered_set< int > &border_edge_indices_expected, const std::unordered_set< int > &visible_face_indices_expected, const std::unordered_set< int > &internal_edges_indices_expected)
void	fcl::detail::CheckComputeVisiblePatchColinearNewVertex (EquilateralTetrahedron &tet, double rho)
void	fcl::detail::CheckComputeVisiblePatchCommon (const Polytope &polytope, const std::unordered_set< ccd_pt_edge_t * > &border_edges, const std::unordered_set< ccd_pt_face_t * > &visible_faces, const std::unordered_set< ccd_pt_edge_t * > &internal_edges, const std::unordered_set< int > &border_edge_indices_expected, const std::unordered_set< int > &visible_face_indices_expected, const std::unordered_set< int > internal_edges_indices_expected)
void	fcl::detail::CheckComputeVisiblePatchRecursive (const Polytope &polytope, ccd_pt_face_t &face, const std::vector< int > &edge_indices, const ccd_vec3_t &new_vertex, const std::unordered_set< int > &border_edge_indices_expected, const std::unordered_set< int > &visible_face_indices_expected, const std::unordered_set< int > &internal_edges_indices_expected)
void	fcl::detail::CheckTetrahedronFaceNormal (const Tetrahedron &p)
void	fcl::detail::CompareCcdVec3 (const ccd_vec3_t &v, const ccd_vec3_t &v_expected, ccd_real_t tol)
void	fcl::detail::ComparePolytope (const ccd_pt_t *polytope1, const ccd_pt_t *polytope2, ccd_real_t tol)
bool	fcl::detail::EdgeMatch (const ccd_pt_edge_t *e1, const ccd_pt_edge_t *e2, const std::unordered_map< ccd_pt_vertex_t *, ccd_pt_vertex_t * > &map_v1_to_v2)
std::array< fcl::Vector3< ccd_real_t >, 4 >	fcl::detail::EquilateralTetrahedronVertices (ccd_real_t bottom_center_x, ccd_real_t bottom_center_y, ccd_real_t bottom_center_z, ccd_real_t edge_length)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, ComputeVisiblePatch_2FacesVisible)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, ComputeVisiblePatch_4FacesVisible)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, ComputeVisiblePatch_TopAndSideFacesVisible)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, ComputeVisiblePatch_TopFaceVisible)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, ComputeVisiblePatchColinearNewVertex)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, ComputeVisiblePatchSanityCheck)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, convert2SimplexToTetrahedron)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, expandPolytope_error)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, expandPolytope_hexagram_1visible_face)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, expandPolytope_hexagram_4_visible_faces)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, expandPolytope_tetrahedron1)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, expandPolytope_tetrahedron_2visible_faces)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, faceNormalPointingOutward)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, faceNormalPointingOutwardError)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, faceNormalPointingOutwardOriginNearFace1)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, faceNormalPointingOutwardOriginNearFace2)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, isOutsidePolytopeFace)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, isOutsidePolytopeFaceError)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, penEPAPosClosest_edge)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, penEPAPosClosest_face)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, penEPAPosClosest_vertex)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, supportEPADirection)
	fcl::detail::GTEST_TEST (FCL_GJK_EPA, supportEPADirectionError)
template<typename T >
bool	fcl::detail::IsElementInSet (const std::unordered_set< T * > &S, const T *element)
int	main (int argc, char *argv[])
template<typename T >
void	fcl::detail::MapFeature1ToFeature2 (const ccd_list_t *feature1_list, const ccd_list_t *feature2_list, std::function< bool(const T *, const T *)> cmp_feature, std::unordered_set< T * > *feature1, std::unordered_set< T * > *feature2, std::unordered_map< T *, T * > *map_feature1_to_feature2)
template<typename S >
void	fcl::detail::SetUpBoxToBox (const Transform3< S > &X_WF, void **o1, void **o2, ccd_t *ccd, fcl::Transform3< S > *X_FB1, fcl::Transform3< S > *X_FB2)
template<typename S >
void	fcl::detail::TestSimplexToPolytope3 ()
template<typename S >
void	fcl::detail::TestSimplexToPolytope3InGivenFrame (const Transform3< S > &X_WF)
std::array< Vector3< ccd_real_t >, 4 >	fcl::detail::TetrahedronColinearVertices ()
std::array< Vector3< ccd_real_t >, 4 >	fcl::detail::TetrahedronSmallFaceVertices ()
template<typename S >
ccd_vec3_t	fcl::detail::ToCcdVec3 (const Eigen::Ref< const Vector3< S >> &v)
template<typename S >
Vector3< S >	fcl::detail::ToEigenVector (const ccd_vec3_t &v)
bool	fcl::detail::TriangleMatch (const ccd_pt_face_t *f1, const ccd_pt_face_t *f2, const std::unordered_map< ccd_pt_edge_t *, ccd_pt_edge_t * > &map_e1_to_e2)
bool	fcl::detail::VertexPositionCoincide (const ccd_pt_vertex_t *v1, const ccd_pt_vertex_t *v2, ccd_real_t tol)

Function Documentation

main()

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

Definition at line 1593 of file test_gjk_libccd-inl_epa.cpp.