shape_inflation.cpp File Reference

#include <boost/test/included/unit_test.hpp>
#include <cmath>
#include <iostream>
#include <hpp/fcl/distance.h>
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/collision.h>
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/shape/geometric_shapes.h>
#include <hpp/fcl/shape/geometric_shapes_utility.h>
#include "utility.h"

Include dependency graph for shape_inflation.cpp:

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Macros
#define	BOOST_TEST_MODULE   FCL_SECURITY_MARGIN
#define	MATH_SQUARED(x)   (x * x)

Functions
	BOOST_AUTO_TEST_CASE (test_inflate)
template<typename Shape >
bool	isApprox (const Shape &s1, const Shape &s2, const FCL_REAL tol)
bool	isApprox (const FCL_REAL &v1, const FCL_REAL &v2, const FCL_REAL tol)
bool	isApprox (const Box &s1, const Box &s2, const FCL_REAL tol)
bool	isApprox (const Sphere &s1, const Sphere &s2, const FCL_REAL tol)
bool	isApprox (const Ellipsoid &s1, const Ellipsoid &s2, const FCL_REAL tol)
bool	isApprox (const Capsule &s1, const Capsule &s2, const FCL_REAL tol)
bool	isApprox (const Cylinder &s1, const Cylinder &s2, const FCL_REAL tol)
bool	isApprox (const Cone &s1, const Cone &s2, const FCL_REAL tol)
bool	isApprox (const TriangleP &s1, const TriangleP &s2, const FCL_REAL tol)
bool	isApprox (const Halfspace &s1, const Halfspace &s2, const FCL_REAL tol)
template<typename Shape >
void	test (const Shape &original_shape, const FCL_REAL inflation, const FCL_REAL tol=1e-8)
template<typename Shape >
void	test_no_throw (const Shape &shape, const FCL_REAL inflation)
template<typename Shape >
void	test_throw (const Shape &shape, const FCL_REAL inflation)

Macro Definition Documentation

BOOST_TEST_MODULE

#define BOOST_TEST_MODULE   FCL_SECURITY_MARGIN

Definition at line 35 of file shape_inflation.cpp.

MATH_SQUARED

#define MATH_SQUARED

(

x

)

(x * x)

Definition at line 59 of file shape_inflation.cpp.

Function Documentation

BOOST_AUTO_TEST_CASE()

BOOST_AUTO_TEST_CASE

(

test_inflate

)

Definition at line 166 of file shape_inflation.cpp.

isApprox() [1/10]

template<typename Shape >

bool isApprox	(	const Shape &	s1,
		const Shape &	s2,
		const FCL_REAL	tol
	)

isApprox() [2/10]

bool isApprox	(	const FCL_REAL &	v1,
		const FCL_REAL &	v2,
		const FCL_REAL	tol
	)

Definition at line 64 of file shape_inflation.cpp.

isApprox() [3/10]

bool isApprox	(	const Box &	s1,
		const Box &	s2,
		const FCL_REAL	tol
	)

Definition at line 73 of file shape_inflation.cpp.

isApprox() [4/10]

bool isApprox	(	const Sphere &	s1,
		const Sphere &	s2,
		const FCL_REAL	tol
	)

Definition at line 77 of file shape_inflation.cpp.

isApprox() [5/10]

bool isApprox	(	const Ellipsoid &	s1,
		const Ellipsoid &	s2,
		const FCL_REAL	tol
	)

Definition at line 81 of file shape_inflation.cpp.

isApprox() [6/10]

bool isApprox	(	const Capsule &	s1,
		const Capsule &	s2,
		const FCL_REAL	tol
	)

Definition at line 85 of file shape_inflation.cpp.

isApprox() [7/10]

bool isApprox	(	const Cylinder &	s1,
		const Cylinder &	s2,
		const FCL_REAL	tol
	)

Definition at line 90 of file shape_inflation.cpp.

isApprox() [8/10]

bool isApprox	(	const Cone &	s1,
		const Cone &	s2,
		const FCL_REAL	tol
	)

Definition at line 95 of file shape_inflation.cpp.

isApprox() [9/10]

bool isApprox	(	const TriangleP &	s1,
		const TriangleP &	s2,
		const FCL_REAL	tol
	)

Definition at line 100 of file shape_inflation.cpp.

isApprox() [10/10]

bool isApprox	(	const Halfspace &	s1,
		const Halfspace &	s2,
		const FCL_REAL	tol
	)

Definition at line 105 of file shape_inflation.cpp.

test()

template<typename Shape >

void test	(	const Shape &	original_shape,
		const FCL_REAL	inflation,
		const FCL_REAL	tol = 1e-8
	)

Definition at line 110 of file shape_inflation.cpp.

test_no_throw()

template<typename Shape >

void test_no_throw	(	const Shape &	shape,
		const FCL_REAL	inflation
	)

Definition at line 162 of file shape_inflation.cpp.

test_throw()

template<typename Shape >

void test_throw	(	const Shape &	shape,
		const FCL_REAL	inflation
	)

Definition at line 157 of file shape_inflation.cpp.