test/collision.cpp File Reference

#include <boost/mpl/vector.hpp>
#include <boost/test/included/unit_test.hpp>
#include <fstream>
#include <boost/assign/list_of.hpp>
#include <hpp/fcl/collision.h>
#include <hpp/fcl/BV/BV.h>
#include <hpp/fcl/shape/geometric_shapes.h>
#include <hpp/fcl/narrowphase/narrowphase.h>
#include <hpp/fcl/mesh_loader/assimp.h>
#include <hpp/fcl/internal/traversal_node_bvhs.h>
#include <hpp/fcl/internal/traversal_node_setup.h>
#include "../src/collision_node.h"
#include <hpp/fcl/internal/BV_splitter.h>
#include <hpp/fcl/timings.h>
#include "utility.h"
#include "fcl_resources/config.h"

Include dependency graph for test/collision.cpp:

Go to the source code of this file.

Classes
struct	base_traits
struct	mesh_mesh_run_test
struct	traits< BV >
struct	traits< KDOP< N >, Oriented, recursive >
struct	wrap< T >

Macros
#define	BENCHMARK(stream)
#define	BENCHMARK_HEADER(stream)
#define	BENCHMARK_NEXT()
#define	BOOST_TEST_MODULE   FCL_COLLISION
#define	BV_STR_SPECIALIZATION(bv)

Typedefs
typedef boost::mpl::vector< OBB, RSS, KDOP< 24 >, KDOP< 18 >, KDOP< 16 >, kIOS, OBBRSS >	BVs_t
typedef std::vector< Contact >	Contacts_t

Enumerations
enum	{ Oriented = true, NonOriented = false, Recursive = true, NonRecursive = false }

Functions
	BOOST_AUTO_TEST_CASE (OBB_Box_test)
	BOOST_AUTO_TEST_CASE (OBB_shape_test)
	BOOST_AUTO_TEST_CASE (OBB_AABB_test)
	BOOST_AUTO_TEST_CASE (mesh_mesh)
	BOOST_AUTO_TEST_CASE (mesh_mesh_benchmark)
template<typename BV >
const char *	str ()

Variables
std::ostream *	bench_stream = NULL
bool	bs_hp = false
bool	bs_nl = true
int	num_max_contacts = (std::numeric_limits<int>::max)()
std::vector< SplitMethodType >	splitMethods

Macro Definition Documentation

BENCHMARK

#define BENCHMARK

(

stream

)

Value:

if (bench_stream != NULL) {                       \
    *bench_stream << (bs_nl ? "" : ", ") << stream; \
    bs_nl = false;                                  \
  }

Definition at line 223 of file test/collision.cpp.

BENCHMARK_HEADER

#define BENCHMARK_HEADER

(

stream

)

Value:

if (!bs_hp) {                  \
    BENCHMARK(stream)            \
  }

Definition at line 228 of file test/collision.cpp.

BENCHMARK_NEXT

#define BENCHMARK_NEXT

(

)

Value:

if (bench_stream != NULL && !bs_nl) { \
    *bench_stream << '\n';              \
    bs_nl = true;                       \
    bs_hp = true;                       \
  }

Definition at line 232 of file test/collision.cpp.

BOOST_TEST_MODULE

#define BOOST_TEST_MODULE   FCL_COLLISION

Author

Joseph Mirabel

Definition at line 40 of file test/collision.cpp.

BV_STR_SPECIALIZATION

#define BV_STR_SPECIALIZATION

(

bv

)

Value:

template <>                     \
  const char* str<bv>() {         \
    return #bv;                   \
  }

Definition at line 245 of file test/collision.cpp.

Typedef Documentation

BVs_t

typedef boost::mpl::vector<OBB, RSS, KDOP<24>, KDOP<18>, KDOP<16>, kIOS, OBBRSS> BVs_t

Definition at line 241 of file test/collision.cpp.

Contacts_t

typedef std::vector<Contact> Contacts_t

Definition at line 239 of file test/collision.cpp.

Enumeration Type Documentation

anonymous enum

anonymous enum

Enumerator
Oriented
NonOriented
Recursive
NonRecursive

Definition at line 268 of file test/collision.cpp.

Function Documentation

BOOST_AUTO_TEST_CASE() [1/5]

BOOST_AUTO_TEST_CASE

(

OBB_Box_test

)

Definition at line 67 of file test/collision.cpp.

BOOST_AUTO_TEST_CASE() [2/5]

BOOST_AUTO_TEST_CASE

(

OBB_shape_test

)

Definition at line 111 of file test/collision.cpp.

BOOST_AUTO_TEST_CASE() [3/5]

BOOST_AUTO_TEST_CASE

(

OBB_AABB_test

)

Definition at line 180 of file test/collision.cpp.

BOOST_AUTO_TEST_CASE() [4/5]

BOOST_AUTO_TEST_CASE

(

mesh_mesh

)

Definition at line 592 of file test/collision.cpp.

BOOST_AUTO_TEST_CASE() [5/5]

BOOST_AUTO_TEST_CASE

(

mesh_mesh_benchmark

)

Definition at line 618 of file test/collision.cpp.

str()

template<typename BV >

const char* str

(

)

Variable Documentation

bench_stream

std::ostream* bench_stream = NULL

Definition at line 220 of file test/collision.cpp.

bs_hp

bool bs_hp = false

Definition at line 222 of file test/collision.cpp.

bs_nl

bool bs_nl = true

Definition at line 221 of file test/collision.cpp.

num_max_contacts

int num_max_contacts = (std::numeric_limits<int>::max)()

Definition at line 65 of file test/collision.cpp.

splitMethods

std::vector<SplitMethodType> splitMethods

Initial value:

= boost::assign::list_of(
    SPLIT_METHOD_MEAN)(SPLIT_METHOD_MEDIAN)(SPLIT_METHOD_BV_CENTER)

Definition at line 242 of file test/collision.cpp.