test_point_inclusion.cpp

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#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>
#include "resources/config.h"

TEST(SpherePointContainment, SimpleInside)
{
  shapes::Sphere shape(1.0);
  bodies::Body* sphere = new bodies::Sphere(&shape);
  sphere->setScale(1.05);
  bool contains = sphere->containsPoint(0, 0, 1.0);
  random_numbers::RandomNumberGenerator r;
  Eigen::Vector3d p;
  EXPECT_TRUE(sphere->samplePointInside(r, 100, p));
  EXPECT_TRUE(sphere->containsPoint(p));
  EXPECT_TRUE(contains);
  delete sphere;
}

TEST(SpherePointContainment, SimpleOutside)
{
  shapes::Sphere shape(1.0);
  bodies::Body* sphere = new bodies::Sphere(&shape);
  sphere->setScale(0.95);
  bool contains = sphere->containsPoint(0, 0, 1.0);
  delete sphere;
  EXPECT_FALSE(contains);
}

TEST(SpherePointContainment, ComplexInside)
{
  shapes::Sphere shape(1.0);
  bodies::Body* sphere = new bodies::Sphere(&shape);
  sphere->setScale(0.95);
  Eigen::Affine3d pose;
  pose.setIdentity();
  pose.translation() = Eigen::Vector3d(1.0, 1.0, 1.0);
  sphere->setPose(pose);
  bool contains = sphere->containsPoint(0.5, 1, 1.0);
  delete sphere;
  EXPECT_TRUE(contains);
}

TEST(SpherePointContainment, ComplexOutside)
{
  shapes::Sphere shape(1.0);
  bodies::Body* sphere = new bodies::Sphere(&shape);
  sphere->setScale(0.95);
  Eigen::Affine3d pose;
  pose.setIdentity();
  pose.translation() = Eigen::Vector3d(1.0, 1.0, 1.0);
  sphere->setPose(pose);
  bool contains = sphere->containsPoint(0.5, 0.0, 0.0);
  delete sphere;
  EXPECT_FALSE(contains);
}

TEST(SphereRayIntersection, SimpleRay1)
{
  shapes::Sphere shape(1.0);
  bodies::Body* sphere = new bodies::Sphere(&shape);
  sphere->setScale(1.05);

  Eigen::Vector3d ray_o(5, 0, 0);
  Eigen::Vector3d ray_d(-1, 0, 0);
  EigenSTL::vector_Vector3d p;
  bool intersect = sphere->intersectsRay(ray_o, ray_d, &p);

  delete sphere;
  EXPECT_TRUE(intersect);
  EXPECT_EQ(2, (int)p.size());
  EXPECT_NEAR(p[0].x(), 1.05, 1e-6);
  EXPECT_NEAR(p[1].x(), -1.05, 1e-6);
}

TEST(SphereRayIntersection, SimpleRay2)
{
  shapes::Sphere shape(1.0);
  bodies::Body* sphere = new bodies::Sphere(&shape);
  sphere->setScale(1.05);

  Eigen::Vector3d ray_o(5, 0, 0);
  Eigen::Vector3d ray_d(1, 0, 0);
  EigenSTL::vector_Vector3d p;
  bool intersect = sphere->intersectsRay(ray_o, ray_d, &p);

  delete sphere;
  EXPECT_FALSE(intersect);
  EXPECT_EQ(0, (int)p.size());
}

TEST(BoxPointContainment, SimpleInside)
{
  shapes::Box shape(1.0, 2.0, 3.0);
  bodies::Body* box = new bodies::Box(&shape);
  box->setScale(0.95);
  bool contains = box->containsPoint(0, 0, 1.0);
  EXPECT_TRUE(contains);

  random_numbers::RandomNumberGenerator r;
  Eigen::Vector3d p;
  EXPECT_TRUE(box->samplePointInside(r, 100, p));
  EXPECT_TRUE(box->containsPoint(p));

  delete box;
}

TEST(BoxPointContainment, SimpleOutside)
{
  shapes::Box shape(1.0, 2.0, 3.0);
  bodies::Body* box = new bodies::Box(&shape);
  box->setScale(0.95);
  bool contains = box->containsPoint(0, 0, 3.0);
  delete box;
  EXPECT_FALSE(contains);
}

TEST(BoxPointContainment, ComplexInside)
{
  shapes::Box shape(1.0, 1.0, 1.0);
  bodies::Body* box = new bodies::Box(&shape);
  box->setScale(1.01);
  Eigen::Affine3d pose(Eigen::AngleAxisd(M_PI / 3.0, Eigen::Vector3d::UnitX()));
  pose.translation() = Eigen::Vector3d(1.0, 1.0, 1.0);
  box->setPose(pose);

  bool contains = box->containsPoint(1.5, 1.0, 1.5);
  EXPECT_TRUE(contains);

  random_numbers::RandomNumberGenerator r;
  Eigen::Vector3d p;
  for (int i = 0; i < 100; ++i)
  {
    EXPECT_TRUE(box->samplePointInside(r, 100, p));
    EXPECT_TRUE(box->containsPoint(p));
  }

  delete box;
}

TEST(BoxPointContainment, ComplexOutside)
{
  shapes::Box shape(1.0, 1.0, 1.0);
  bodies::Body* box = new bodies::Box(&shape);
  box->setScale(1.01);
  Eigen::Affine3d pose(Eigen::AngleAxisd(M_PI / 3.0, Eigen::Vector3d::UnitX()));
  pose.translation() = Eigen::Vector3d(1.0, 1.0, 1.0);
  box->setPose(pose);

  bool contains = box->containsPoint(1.5, 1.5, 1.5);
  delete box;
  EXPECT_FALSE(contains);
}

TEST(BoxRayIntersection, SimpleRay1)
{
  shapes::Box shape(1.0, 1.0, 3.0);
  bodies::Body* box = new bodies::Box(&shape);
  box->setScale(0.95);

  Eigen::Vector3d ray_o(10, 0.449, 0);
  Eigen::Vector3d ray_d(-1, 0, 0);
  EigenSTL::vector_Vector3d p;

  bool intersect = box->intersectsRay(ray_o, ray_d, &p);

  //    for (unsigned int i = 0; i < p.size() ; ++i)
  //        printf("intersection at %f, %f, %f\n", p[i].x(), p[i].y(), p[i].z());

  delete box;
  EXPECT_TRUE(intersect);
}

TEST(BoxRayIntersection, SimpleRay2)
{
  shapes::Box shape(0.9, 0.01, 1.2);
  bodies::Body* box = new bodies::Box(&shape);

  Eigen::Affine3d pose(Eigen::AngleAxisd(0, Eigen::Vector3d::UnitX()));
  pose.translation() = Eigen::Vector3d(0, 0.005, 0.6);
  box->setPose(pose);

  Eigen::Vector3d ray_o(0, 5, 1.6);
  Eigen::Vector3d ray_d(0, -5.195, -0.77);
  EigenSTL::vector_Vector3d p;

  bool intersect = box->intersectsRay(ray_o, ray_d, &p);
  EXPECT_TRUE(intersect);

  intersect = box->intersectsRay(ray_o, ray_d.normalized(), &p);
  EXPECT_TRUE(intersect);

  delete box;
}

TEST(BoxRayIntersection, SimpleRay3)
{
  shapes::Box shape(0.02, 0.4, 1.2);
  bodies::Body* box = new bodies::Box(&shape);

  Eigen::Affine3d pose(Eigen::AngleAxisd(0, Eigen::Vector3d::UnitX()));
  pose.translation() = Eigen::Vector3d(0.45, -0.195, 0.6);
  box->setPose(pose);

  Eigen::Vector3d ray_o(0, -2, 1.11);
  Eigen::Vector3d ray_d(0, 1.8, -0.669);
  EigenSTL::vector_Vector3d p;

  bool intersect = box->intersectsRay(ray_o, ray_d, &p);
  EXPECT_FALSE(intersect);

  intersect = box->intersectsRay(ray_o, ray_d.normalized(), &p);
  EXPECT_FALSE(intersect);

  delete box;
}

TEST(CylinderPointContainment, SimpleInside)
{
  shapes::Cylinder shape(1.0, 4.0);
  bodies::Body* cylinder = new bodies::Cylinder(&shape);
  cylinder->setScale(1.05);
  bool contains = cylinder->containsPoint(0, 0, 2.0);
  delete cylinder;
  EXPECT_TRUE(contains);
}

TEST(CylinderPointContainment, SimpleOutside)
{
  shapes::Cylinder shape(1.0, 4.0);
  bodies::Body* cylinder = new bodies::Cylinder(&shape);
  cylinder->setScale(0.95);
  bool contains = cylinder->containsPoint(0, 0, 2.0);
  delete cylinder;
  EXPECT_FALSE(contains);
}

TEST(CylinderPointContainment, CylinderPadding)
{
  shapes::Cylinder shape(1.0, 4.0);
  bodies::Body* cylinder = new bodies::Cylinder(&shape);
  bool contains = cylinder->containsPoint(0, 1.01, 0);
  EXPECT_FALSE(contains);
  cylinder->setPadding(.02);
  contains = cylinder->containsPoint(0, 1.01, 0);
  EXPECT_TRUE(contains);
  cylinder->setPadding(0.0);
  bodies::BoundingSphere bsphere;
  cylinder->computeBoundingSphere(bsphere);
  EXPECT_TRUE(bsphere.radius > 2.0);

  random_numbers::RandomNumberGenerator r;
  Eigen::Vector3d p;
  for (int i = 0; i < 1000; ++i)
  {
    EXPECT_TRUE(cylinder->samplePointInside(r, 100, p));
    EXPECT_TRUE(cylinder->containsPoint(p));
  }
  delete cylinder;
}

TEST(MeshPointContainment, Pr2Forearm)
{
  shapes::Mesh* ms = shapes::createMeshFromResource(
      "file://" + (boost::filesystem::path(TEST_RESOURCES_DIR) / "/forearm_roll.stl").string());
  ASSERT_TRUE(ms != NULL);
  bodies::Body* m = new bodies::ConvexMesh(ms);
  ASSERT_TRUE(m != NULL);
  Eigen::Affine3d t(Eigen::Affine3d::Identity());
  t.translation().x() = 1.0;
  EXPECT_FALSE(m->cloneAt(t)->containsPoint(-1.0, 0.0, 0.0));

  random_numbers::RandomNumberGenerator r;
  Eigen::Vector3d p;
  bool found = true;
  for (int i = 0; i < 10; ++i)
  {
    if (m->samplePointInside(r, 10000, p))
    {
      found = true;
      EXPECT_TRUE(m->containsPoint(p));
    }
  }
  EXPECT_TRUE(found);

  delete m;
  delete ms;
}

TEST(MergeBoundingSpheres, MergeTwoSpheres)
{
  std::vector<bodies::BoundingSphere> spheres;

  bodies::BoundingSphere s1;
  s1.center = Eigen::Vector3d(5.0, 0.0, 0.0);
  s1.radius = 1.0;

  bodies::BoundingSphere s2;
  s2.center = Eigen::Vector3d(-5.1, 0.0, 0.0);
  s2.radius = 1.0;

  spheres.push_back(s1);
  spheres.push_back(s2);

  bodies::BoundingSphere merged_sphere;
  bodies::mergeBoundingSpheres(spheres, merged_sphere);

  EXPECT_NEAR(merged_sphere.center[0], -.05, .00001);
  EXPECT_EQ(merged_sphere.radius, 6.05);
}

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