test_bounding_sphere.cpp

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2013, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

#include <geometric_shapes/bodies.h>
#include <geometric_shapes/shape_operations.h>
#include <geometric_shapes/body_operations.h>
#include <boost/filesystem.hpp>
#include <gtest/gtest.h>


TEST(SphereBoundingSphere, Sphere1)
{
  shapes::Sphere shape(1.0);
  Eigen::Vector3d center;
  double radius;
  computeShapeBoundingSphere(&shape, center, radius);

  EXPECT_EQ(1.0, radius);
  EXPECT_EQ(0.0, center.x());
  EXPECT_EQ(0.0, center.y());
  EXPECT_EQ(0.0, center.z());
}

TEST(SphereBoundingSphere, Sphere2)
{
  shapes::Shape *shape = new shapes::Sphere(2.0);
  Eigen::Vector3d center;
  double radius;
  computeShapeBoundingSphere(shape, center, radius);

  EXPECT_EQ(2.0, radius);
  EXPECT_EQ(0.0, center.x());
  EXPECT_EQ(0.0, center.y());
  EXPECT_EQ(0.0, center.z());
  delete shape;
}

TEST(BoxBoundingSphere, Box1)
{
  shapes::Shape *shape = new shapes::Box(2.0, 4.0, 6.0);
  Eigen::Vector3d center;
  double radius;
  computeShapeBoundingSphere(shape, center, radius);

  EXPECT_EQ(sqrt(14.0), radius);
  EXPECT_EQ(0.0, center.x());
  EXPECT_EQ(0.0, center.y());
  EXPECT_EQ(0.0, center.z());
}

TEST(BoxBoundingSphere, Box2)
{
  shapes::Shape *shape = new shapes::Box(2.0, 2.0, 2.0);
  Eigen::Vector3d center;
  double radius;
  computeShapeBoundingSphere(shape, center, radius);

  EXPECT_EQ(sqrt(3.0), radius);
  EXPECT_EQ(0.0, center.x());
  EXPECT_EQ(0.0, center.y());
  EXPECT_EQ(0.0, center.z());
}

TEST(CylBoundingSphere, Cyl1)
{
  shapes::Shape *shape = new shapes::Cylinder(1.0, 4.0);
  Eigen::Vector3d center;
  double radius;
  computeShapeBoundingSphere(shape, center, radius);

  EXPECT_EQ(sqrt(1+4), radius);
  EXPECT_EQ(0.0, center.x());
  EXPECT_EQ(0.0, center.y());
  EXPECT_EQ(0.0, center.z());
}

TEST(CylBoundingSphere, Cyl2)
{
  shapes::Shape *shape = new shapes::Cylinder(2.0, 20.0);
  Eigen::Vector3d center;
  double radius;
  computeShapeBoundingSphere(shape, center, radius);

  EXPECT_EQ(sqrt(4+100), radius);
  EXPECT_EQ(0.0, center.x());
  EXPECT_EQ(0.0, center.y());
  EXPECT_EQ(0.0, center.z());
}

TEST(ConeBoundingSphere, Cone1)
{
  shapes::Shape *shape = new shapes::Cone(20.0, 2.0);
  Eigen::Vector3d center;
  double radius;
  computeShapeBoundingSphere(shape, center, radius);

  EXPECT_EQ(20.0, radius);
  EXPECT_EQ(0.0, center.x());
  EXPECT_EQ(0.0, center.y());
  EXPECT_EQ(-1.0, center.z());
}

TEST(ConeBoundingSphere, Cone2)
{
  shapes::Shape *shape = new shapes::Cone(5.0, 5.0);
  Eigen::Vector3d center;
  double radius;
  computeShapeBoundingSphere(shape, center, radius);

  EXPECT_EQ(5.0, radius);
  EXPECT_EQ(0.0, center.x());
  EXPECT_EQ(0.0, center.y());
  EXPECT_EQ(-2.5, center.z());
}

TEST(ConeBoundingSphere, Cone3)
{
  double height = 1.0 + 1.0/sqrt(2);
  shapes::Shape *shape = new shapes::Cone(1/sqrt(2), height);
  Eigen::Vector3d center;
  double radius;
  computeShapeBoundingSphere(shape, center, radius);

  EXPECT_EQ(1.0, radius);
  EXPECT_EQ(0.0, center.x());
  EXPECT_EQ(0.0, center.y());
  EXPECT_EQ(height/2 - 1, center.z());
}

TEST(ConeBoundingSphere, Cone4)
{
  shapes::Shape *shape = new shapes::Cone(3, 10);
  Eigen::Vector3d center;
  double radius;
  computeShapeBoundingSphere(shape, center, radius);

  EXPECT_EQ(109.0/20, radius);
  EXPECT_EQ(0.0, center.x());
  EXPECT_EQ(0.0, center.y());
  EXPECT_EQ(5 - (109.0/20), center.z());
}

TEST(MeshBoundingSphere, Mesh1)
{
  shapes::Shape *shape = new shapes::Mesh(8, 12);
  shapes::Mesh *m = dynamic_cast<shapes::Mesh*>(shape);
  EXPECT_TRUE(m);

  // box mesh

  m->vertices[3*0 + 0] = 0;
  m->vertices[3*0 + 1] = 0;
  m->vertices[3*0 + 2] = 0;

  m->vertices[3*1 + 0] = 1;
  m->vertices[3*1 + 1] = 0;
  m->vertices[3*1 + 2] = 0;

  m->vertices[3*2 + 0] = 0;
  m->vertices[3*2 + 1] = 1;
  m->vertices[3*2 + 2] = 0;

  m->vertices[3*3 + 0] = 1;
  m->vertices[3*3 + 1] = 1;
  m->vertices[3*3 + 2] = 0;

  m->vertices[3*4 + 0] = 0;
  m->vertices[3*4 + 1] = 0;
  m->vertices[3*4 + 2] = 1;

  m->vertices[3*5 + 0] = 1;
  m->vertices[3*5 + 1] = 0;
  m->vertices[3*5 + 2] = 1;

  m->vertices[3*6 + 0] = 0;
  m->vertices[3*6 + 1] = 1;
  m->vertices[3*6 + 2] = 1;

  m->vertices[3*7 + 0] = 1;
  m->vertices[3*7 + 1] = 1;
  m->vertices[3*7 + 2] = 1;


  m->triangles[3*0 + 0] = 0;
  m->triangles[3*0 + 1] = 1;
  m->triangles[3*0 + 2] = 2;

  m->triangles[3*1 + 0] = 1;
  m->triangles[3*1 + 1] = 3;
  m->triangles[3*1 + 2] = 2;

  m->triangles[3*2 + 0] = 5;
  m->triangles[3*2 + 1] = 4;
  m->triangles[3*2 + 2] = 6;

  m->triangles[3*3 + 0] = 5;
  m->triangles[3*3 + 1] = 6;
  m->triangles[3*3 + 2] = 7;

  m->triangles[3*4 + 0] = 1;
  m->triangles[3*4 + 1] = 5;
  m->triangles[3*4 + 2] = 3;

  m->triangles[3*5 + 0] = 5;
  m->triangles[3*5 + 1] = 7;
  m->triangles[3*5 + 2] = 3;

  m->triangles[3*6 + 0] = 4;
  m->triangles[3*6 + 1] = 0;
  m->triangles[3*6 + 2] = 2;

  m->triangles[3*7 + 0] = 4;
  m->triangles[3*7 + 1] = 2;
  m->triangles[3*7 + 2] = 6;

  m->triangles[3*8 + 0] = 2;
  m->triangles[3*8 + 1] = 3;
  m->triangles[3*8 + 2] = 6;

  m->triangles[3*9 + 0] = 3;
  m->triangles[3*9 + 1] = 7;
  m->triangles[3*9 + 2] = 6;

  m->triangles[3*10 + 0] = 1;
  m->triangles[3*10 + 1] = 0;
  m->triangles[3*10 + 2] = 4;

  m->triangles[3*11 + 0] = 1;
  m->triangles[3*11 + 1] = 4;
  m->triangles[3*11 + 2] = 5;


  Eigen::Vector3d center;
  double radius;
  computeShapeBoundingSphere(shape, center, radius);

  EXPECT_EQ(sqrt(0.75), radius);
  EXPECT_EQ(0.5, center.x());
  EXPECT_EQ(0.5, center.y());
  EXPECT_EQ(0.5, center.z());
}

int main(int argc, char **argv)
{
    testing::InitGoogleTest(&argc, argv);
    return RUN_ALL_TESTS();
}