test_bounding_sphere.cpp
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00034 
00037 #include <geometric_shapes/bodies.h>
00038 #include <geometric_shapes/shape_operations.h>
00039 #include <geometric_shapes/body_operations.h>
00040 #include <boost/filesystem.hpp>
00041 #include <gtest/gtest.h>
00042 
00043 
00044 TEST(SphereBoundingSphere, Sphere1)
00045 {
00046   shapes::Sphere shape(1.0);
00047   Eigen::Vector3d center;
00048   double radius;
00049   computeShapeBoundingSphere(&shape, center, radius);
00050 
00051   EXPECT_EQ(1.0, radius);
00052   EXPECT_EQ(0.0, center.x());
00053   EXPECT_EQ(0.0, center.y());
00054   EXPECT_EQ(0.0, center.z());
00055 }
00056 
00057 TEST(SphereBoundingSphere, Sphere2)
00058 {
00059   shapes::Shape *shape = new shapes::Sphere(2.0);
00060   Eigen::Vector3d center;
00061   double radius;
00062   computeShapeBoundingSphere(shape, center, radius);
00063 
00064   EXPECT_EQ(2.0, radius);
00065   EXPECT_EQ(0.0, center.x());
00066   EXPECT_EQ(0.0, center.y());
00067   EXPECT_EQ(0.0, center.z());
00068   delete shape;
00069 }
00070 
00071 TEST(BoxBoundingSphere, Box1)
00072 {
00073   shapes::Shape *shape = new shapes::Box(2.0, 4.0, 6.0);
00074   Eigen::Vector3d center;
00075   double radius;
00076   computeShapeBoundingSphere(shape, center, radius);
00077 
00078   EXPECT_EQ(sqrt(14.0), radius);
00079   EXPECT_EQ(0.0, center.x());
00080   EXPECT_EQ(0.0, center.y());
00081   EXPECT_EQ(0.0, center.z());
00082 }
00083 
00084 TEST(BoxBoundingSphere, Box2)
00085 {
00086   shapes::Shape *shape = new shapes::Box(2.0, 2.0, 2.0);
00087   Eigen::Vector3d center;
00088   double radius;
00089   computeShapeBoundingSphere(shape, center, radius);
00090 
00091   EXPECT_EQ(sqrt(3.0), radius);
00092   EXPECT_EQ(0.0, center.x());
00093   EXPECT_EQ(0.0, center.y());
00094   EXPECT_EQ(0.0, center.z());
00095 }
00096 
00097 TEST(CylBoundingSphere, Cyl1)
00098 {
00099   shapes::Shape *shape = new shapes::Cylinder(1.0, 4.0);
00100   Eigen::Vector3d center;
00101   double radius;
00102   computeShapeBoundingSphere(shape, center, radius);
00103 
00104   EXPECT_EQ(sqrt(1+4), radius);
00105   EXPECT_EQ(0.0, center.x());
00106   EXPECT_EQ(0.0, center.y());
00107   EXPECT_EQ(0.0, center.z());
00108 }
00109 
00110 TEST(CylBoundingSphere, Cyl2)
00111 {
00112   shapes::Shape *shape = new shapes::Cylinder(2.0, 20.0);
00113   Eigen::Vector3d center;
00114   double radius;
00115   computeShapeBoundingSphere(shape, center, radius);
00116 
00117   EXPECT_EQ(sqrt(4+100), radius);
00118   EXPECT_EQ(0.0, center.x());
00119   EXPECT_EQ(0.0, center.y());
00120   EXPECT_EQ(0.0, center.z());
00121 }
00122 
00123 TEST(ConeBoundingSphere, Cone1)
00124 {
00125   shapes::Shape *shape = new shapes::Cone(20.0, 2.0);
00126   Eigen::Vector3d center;
00127   double radius;
00128   computeShapeBoundingSphere(shape, center, radius);
00129 
00130   EXPECT_EQ(20.0, radius);
00131   EXPECT_EQ(0.0, center.x());
00132   EXPECT_EQ(0.0, center.y());
00133   EXPECT_EQ(-1.0, center.z());
00134 }
00135 
00136 TEST(ConeBoundingSphere, Cone2)
00137 {
00138   shapes::Shape *shape = new shapes::Cone(5.0, 5.0);
00139   Eigen::Vector3d center;
00140   double radius;
00141   computeShapeBoundingSphere(shape, center, radius);
00142 
00143   EXPECT_EQ(5.0, radius);
00144   EXPECT_EQ(0.0, center.x());
00145   EXPECT_EQ(0.0, center.y());
00146   EXPECT_EQ(-2.5, center.z());
00147 }
00148 
00149 TEST(ConeBoundingSphere, Cone3)
00150 {
00151   double height = 1.0 + 1.0/sqrt(2);
00152   shapes::Shape *shape = new shapes::Cone(1/sqrt(2), height);
00153   Eigen::Vector3d center;
00154   double radius;
00155   computeShapeBoundingSphere(shape, center, radius);
00156 
00157   EXPECT_EQ(1.0, radius);
00158   EXPECT_EQ(0.0, center.x());
00159   EXPECT_EQ(0.0, center.y());
00160   EXPECT_EQ(height/2 - 1, center.z());
00161 }
00162 
00163 TEST(ConeBoundingSphere, Cone4)
00164 {
00165   shapes::Shape *shape = new shapes::Cone(3, 10);
00166   Eigen::Vector3d center;
00167   double radius;
00168   computeShapeBoundingSphere(shape, center, radius);
00169 
00170   EXPECT_EQ(109.0/20, radius);
00171   EXPECT_EQ(0.0, center.x());
00172   EXPECT_EQ(0.0, center.y());
00173   EXPECT_EQ(5 - (109.0/20), center.z());
00174 }
00175 
00176 TEST(MeshBoundingSphere, Mesh1)
00177 {
00178   shapes::Shape *shape = new shapes::Mesh(8, 12);
00179   shapes::Mesh *m = dynamic_cast<shapes::Mesh*>(shape);
00180   EXPECT_TRUE(m);
00181 
00182   // box mesh
00183 
00184   m->vertices[3*0 + 0] = 0;
00185   m->vertices[3*0 + 1] = 0;
00186   m->vertices[3*0 + 2] = 0;
00187 
00188   m->vertices[3*1 + 0] = 1;
00189   m->vertices[3*1 + 1] = 0;
00190   m->vertices[3*1 + 2] = 0;
00191 
00192   m->vertices[3*2 + 0] = 0;
00193   m->vertices[3*2 + 1] = 1;
00194   m->vertices[3*2 + 2] = 0;
00195 
00196   m->vertices[3*3 + 0] = 1;
00197   m->vertices[3*3 + 1] = 1;
00198   m->vertices[3*3 + 2] = 0;
00199 
00200   m->vertices[3*4 + 0] = 0;
00201   m->vertices[3*4 + 1] = 0;
00202   m->vertices[3*4 + 2] = 1;
00203 
00204   m->vertices[3*5 + 0] = 1;
00205   m->vertices[3*5 + 1] = 0;
00206   m->vertices[3*5 + 2] = 1;
00207 
00208   m->vertices[3*6 + 0] = 0;
00209   m->vertices[3*6 + 1] = 1;
00210   m->vertices[3*6 + 2] = 1;
00211 
00212   m->vertices[3*7 + 0] = 1;
00213   m->vertices[3*7 + 1] = 1;
00214   m->vertices[3*7 + 2] = 1;
00215 
00216 
00217   m->triangles[3*0 + 0] = 0;
00218   m->triangles[3*0 + 1] = 1;
00219   m->triangles[3*0 + 2] = 2;
00220 
00221   m->triangles[3*1 + 0] = 1;
00222   m->triangles[3*1 + 1] = 3;
00223   m->triangles[3*1 + 2] = 2;
00224 
00225   m->triangles[3*2 + 0] = 5;
00226   m->triangles[3*2 + 1] = 4;
00227   m->triangles[3*2 + 2] = 6;
00228 
00229   m->triangles[3*3 + 0] = 5;
00230   m->triangles[3*3 + 1] = 6;
00231   m->triangles[3*3 + 2] = 7;
00232 
00233   m->triangles[3*4 + 0] = 1;
00234   m->triangles[3*4 + 1] = 5;
00235   m->triangles[3*4 + 2] = 3;
00236 
00237   m->triangles[3*5 + 0] = 5;
00238   m->triangles[3*5 + 1] = 7;
00239   m->triangles[3*5 + 2] = 3;
00240 
00241   m->triangles[3*6 + 0] = 4;
00242   m->triangles[3*6 + 1] = 0;
00243   m->triangles[3*6 + 2] = 2;
00244 
00245   m->triangles[3*7 + 0] = 4;
00246   m->triangles[3*7 + 1] = 2;
00247   m->triangles[3*7 + 2] = 6;
00248 
00249   m->triangles[3*8 + 0] = 2;
00250   m->triangles[3*8 + 1] = 3;
00251   m->triangles[3*8 + 2] = 6;
00252 
00253   m->triangles[3*9 + 0] = 3;
00254   m->triangles[3*9 + 1] = 7;
00255   m->triangles[3*9 + 2] = 6;
00256 
00257   m->triangles[3*10 + 0] = 1;
00258   m->triangles[3*10 + 1] = 0;
00259   m->triangles[3*10 + 2] = 4;
00260 
00261   m->triangles[3*11 + 0] = 1;
00262   m->triangles[3*11 + 1] = 4;
00263   m->triangles[3*11 + 2] = 5;
00264 
00265 
00266   Eigen::Vector3d center;
00267   double radius;
00268   computeShapeBoundingSphere(shape, center, radius);
00269 
00270   EXPECT_EQ(sqrt(0.75), radius);
00271   EXPECT_EQ(0.5, center.x());
00272   EXPECT_EQ(0.5, center.y());
00273   EXPECT_EQ(0.5, center.z());
00274 }
00275 
00276 int main(int argc, char **argv)
00277 {
00278     testing::InitGoogleTest(&argc, argv);
00279     return RUN_ALL_TESTS();
00280 }


geometric_shapes
Author(s): Ioan Sucan , Gil Jones
autogenerated on Thu Jun 8 2017 02:52:45