test/broadphase_dynamic_AABB_tree.cpp
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34 
39 #include <iostream>
40 #include <memory>
41 
42 #define BOOST_TEST_MODULE BROADPHASE_DYNAMIC_AABB_TREE
43 #include <boost/test/included/unit_test.hpp>
44 
45 // #include "hpp/fcl/data_types.h"
48 
49 using namespace hpp::fcl;
50 
51 // Pack the data for callback function.
52 struct CallBackData {
54  std::vector<CollisionObject*>* objects;
55 };
56 
57 // This callback function tests the order of the two collision objects from
58 // the dynamic tree against the `data`. We assume that the first two
59 // parameters are always objects[0] and objects[1] in two possible orders,
60 // so we can safely ignore the second parameter. We do not use the last
61 // FCL_REAL& parameter, which specifies the distance beyond which the
62 // pair of objects will be skipped.
63 
66  return distance_callback(o1, o2, &data, dist);
67  }
68 
70  void* callback_data, FCL_REAL&) {
71  // Unpack the data.
72  CallBackData* data = static_cast<CallBackData*>(callback_data);
73  const std::vector<CollisionObject*>& objects = *(data->objects);
74  const bool object0_first = a == objects[0];
75  BOOST_CHECK_EQUAL(data->expect_object0_then_object1, object0_first);
76  // TODO(DamrongGuoy): Remove the statement below when we solve the
77  // repeatability problem as mentioned in:
78  // https://github.com/flexible-collision-library/fcl/issues/368
79  // Expect to switch the order next time.
81  // Return true to stop the tree traversal.
82  return true;
83  }
84 
86 };
87 
88 // Tests repeatability of a dynamic tree of two spheres when we call update()
89 // and distance() again and again without changing the poses of the objects.
90 // We only use the distance() method to invoke a hierarchy traversal.
91 // The distance-callback function in this test does not compute the signed
92 // distance between the two objects; it only checks their order.
93 //
94 // Currently every call to update() switches the order of the two objects.
95 // TODO(DamrongGuoy): Remove the above comment when we solve the
96 // repeatability problem as mentioned in:
97 // https://github.com/flexible-collision-library/fcl/issues/368
98 //
99 BOOST_AUTO_TEST_CASE(DynamicAABBTreeCollisionManager_class) {
100  CollisionGeometryPtr_t sphere0 = make_shared<Sphere>(0.1);
101  CollisionGeometryPtr_t sphere1 = make_shared<Sphere>(0.2);
102  CollisionObject object0(sphere0);
103  CollisionObject object1(sphere1);
104  const Eigen::Vector3d position0(0.1, 0.2, 0.3);
105  const Eigen::Vector3d position1(0.11, 0.21, 0.31);
106 
107  // We will use `objects` to check the order of the two collision objects in
108  // our callback function.
109  //
110  // We use std::vector that contains *pointers* to CollisionObject,
111  // instead of std::vector that contains CollisionObject's.
112  // Previously we used std::vector<CollisionObject>, and it failed the
113  // Eigen alignment assertion on Win32. We also tried, without success, the
114  // custom allocator:
115  // std::vector<CollisionObject,
116  // Eigen::aligned_allocator<CollisionObject>>,
117  // but some platforms failed to build.
118  std::vector<CollisionObject*> objects;
119  objects.push_back(&object0);
120  objects.push_back(&object1);
121 
122  std::vector<Eigen::Vector3d> positions;
123  positions.push_back(position0);
124  positions.push_back(position1);
125 
126  DynamicAABBTreeCollisionManager dynamic_tree;
127  for (size_t i = 0; i < objects.size(); ++i) {
128  objects[i]->setTranslation(positions[i]);
129  objects[i]->computeAABB();
130  dynamic_tree.registerObject(objects[i]);
131  }
132 
134  callback.data.expect_object0_then_object1 = false;
135  callback.data.objects = &objects;
136 
137  // We repeat update() and distance() many times. Each time, in the
138  // callback function, we check the order of the two objects.
139  for (int count = 0; count < 8; ++count) {
140  dynamic_tree.update();
141  dynamic_tree.distance(&callback);
142  }
143 }
void distance(CollisionObject *obj, DistanceCallBackBase *callback) const
perform distance computation between one object and all the objects belonging to the manager ...
data
BOOST_AUTO_TEST_CASE(DynamicAABBTreeCollisionManager_class)
std::vector< CollisionObject * > * objects
bool distance_callback(CollisionObject *a, CollisionObject *, void *callback_data, FCL_REAL &)
double FCL_REAL
Definition: data_types.h:65
bool distance(CollisionObject *o1, CollisionObject *o2, FCL_REAL &dist)
Distance evaluation between two objects in collision. This callback will cause the broadphase evaluat...
void registerObject(CollisionObject *obj)
add one object to the manager
shared_ptr< CollisionGeometry > CollisionGeometryPtr_t
the object for collision or distance computation, contains the geometry and the transform information...
Base callback class for distance queries. This class can be supersed by child classes to provide desi...


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autogenerated on Fri Jun 2 2023 02:39:00