test/geometric_shapes.cpp File Reference

#include <boost/test/included/unit_test.hpp>
#include <hpp/fcl/narrowphase/narrowphase.h>
#include <hpp/fcl/collision.h>
#include <hpp/fcl/distance.h>
#include "utility.h"
#include <iostream>
#include <hpp/fcl/internal/tools.h>
#include <hpp/fcl/shape/geometric_shape_to_BVH_model.h>

Include dependency graph for test/geometric_shapes.cpp:

Go to the source code of this file.

Namespaces
	hpp
	Main namespace.
	hpp::fcl

Macros
#define	BOOST_CHECK_FALSE(p)   BOOST_CHECK(!(p))
#define	BOOST_TEST_MODULE   FCL_GEOMETRIC_SHAPES
#define	FCL_CHECK(cond)   BOOST_CHECK_MESSAGE(cond, "from line " << line << ": " #cond)
#define	FCL_CHECK_EQUAL(a, b)
#define	SET_LINE   line = __LINE__

Functions
	BOOST_AUTO_TEST_CASE (box_to_bvh)
	BOOST_AUTO_TEST_CASE (sphere_to_bvh)
	BOOST_AUTO_TEST_CASE (cylinder_to_bvh)
	BOOST_AUTO_TEST_CASE (cone_to_bvh)
	BOOST_AUTO_TEST_CASE (shapeIntersection_cylinderbox)
	BOOST_AUTO_TEST_CASE (shapeIntersection_spheresphere)
	BOOST_AUTO_TEST_CASE (shapeIntersection_boxbox)
	BOOST_AUTO_TEST_CASE (shapeIntersection_spherebox)
	BOOST_AUTO_TEST_CASE (shapeDistance_spherebox)
	BOOST_AUTO_TEST_CASE (shapeIntersection_spherecapsule)
	BOOST_AUTO_TEST_CASE (shapeIntersection_cylindercylinder)
	BOOST_AUTO_TEST_CASE (shapeIntersection_spheretriangle)
	BOOST_AUTO_TEST_CASE (shapeIntersection_halfspacetriangle)
	BOOST_AUTO_TEST_CASE (shapeIntersection_planetriangle)
	BOOST_AUTO_TEST_CASE (shapeIntersection_halfspacesphere)
	BOOST_AUTO_TEST_CASE (shapeIntersection_planesphere)
	BOOST_AUTO_TEST_CASE (shapeIntersection_halfspacebox)
	BOOST_AUTO_TEST_CASE (shapeIntersection_planebox)
	BOOST_AUTO_TEST_CASE (shapeIntersection_halfspacecapsule)
	BOOST_AUTO_TEST_CASE (shapeIntersection_planecapsule)
	BOOST_AUTO_TEST_CASE (shapeIntersection_halfspacecylinder)
	BOOST_AUTO_TEST_CASE (shapeIntersection_planecylinder)
	BOOST_AUTO_TEST_CASE (shapeIntersection_halfspacecone)
	BOOST_AUTO_TEST_CASE (shapeIntersection_planecone)
	BOOST_AUTO_TEST_CASE (shapeDistance_spheresphere)
	BOOST_AUTO_TEST_CASE (shapeDistance_boxbox)
	BOOST_AUTO_TEST_CASE (shapeDistance_boxsphere)
	BOOST_AUTO_TEST_CASE (shapeDistance_cylindercylinder)
	BOOST_AUTO_TEST_CASE (shapeDistance_conecone)
	BOOST_AUTO_TEST_CASE (shapeDistance_conecylinder)
	BOOST_AUTO_TEST_CASE (shapeIntersectionGJK_spheresphere)
	BOOST_AUTO_TEST_CASE (shapeIntersectionGJK_boxbox)
	BOOST_AUTO_TEST_CASE (shapeIntersectionGJK_spherebox)
	BOOST_AUTO_TEST_CASE (shapeIntersectionGJK_spherecapsule)
	BOOST_AUTO_TEST_CASE (shapeIntersectionGJK_cylindercylinder)
	BOOST_AUTO_TEST_CASE (shapeIntersectionGJK_conecone)
	BOOST_AUTO_TEST_CASE (shapeIntersectionGJK_conecylinder)
	BOOST_AUTO_TEST_CASE (shapeIntersectionGJK_spheretriangle)
	BOOST_AUTO_TEST_CASE (shapeIntersectionGJK_halfspacetriangle)
	BOOST_AUTO_TEST_CASE (shapeIntersectionGJK_planetriangle)
	BOOST_AUTO_TEST_CASE (spheresphere)
	BOOST_AUTO_TEST_CASE (boxbox)
	BOOST_AUTO_TEST_CASE (boxsphere)
	BOOST_AUTO_TEST_CASE (cylindercylinder)
	BOOST_AUTO_TEST_CASE (conecone)
	BOOST_AUTO_TEST_CASE (reversibleShapeDistance_allshapes)
template<typename S1 , typename S2 >
void	compareContact (const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, const Vec3f &contact, Vec3f *expected_point, FCL_REAL depth, FCL_REAL *expected_depth, const Vec3f &normal, Vec3f *expected_normal, bool check_opposite_normal, FCL_REAL tol)
bool	compareContactPoints (const Vec3f &c1, const Vec3f &c2)
std::ostream &	hpp::fcl::operator<< (std::ostream &os, const ShapeBase &)
std::ostream &	hpp::fcl::operator<< (std::ostream &os, const Box &b)
template<typename S1 , typename S2 >
void	printComparisonError (const std::string &comparison_type, const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, const Vec3f &contact_or_normal, const Vec3f &expected_contact_or_normal, bool check_opposite_normal, FCL_REAL tol)
template<typename S1 , typename S2 >
void	printComparisonError (const std::string &comparison_type, const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, FCL_REAL depth, FCL_REAL expected_depth, FCL_REAL tol)
void	testBoxBoxContactPoints (const Matrix3f &R)
template<typename S1 , typename S2 >
void	testReversibleShapeDistance (const S1 &s1, const S2 &s2, FCL_REAL distance)
template<typename S1 , typename S2 >
void	testShapeIntersection (const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, bool expect_collision, Vec3f *expected_point=NULL, FCL_REAL *expected_depth=NULL, Vec3f *expected_normal=NULL, bool check_opposite_normal=false, FCL_REAL tol=1e-9)

Variables
FCL_REAL	extents [6] = {0, 0, 0, 10, 10, 10}
int	line
GJKSolver	solver1
GJKSolver	solver2
FCL_REAL	tol_gjk = 0.01

Macro Definition Documentation

BOOST_CHECK_FALSE

#define BOOST_CHECK_FALSE

(

p

)

BOOST_CHECK(!(p))

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

BOOST_TEST_MODULE

#define BOOST_TEST_MODULE   FCL_GEOMETRIC_SHAPES

Author

Jia Pan

Definition at line 38 of file test/geometric_shapes.cpp.

FCL_CHECK

#define FCL_CHECK

(

cond

)

BOOST_CHECK_MESSAGE(cond, "from line " << line << ": " #cond)

Definition at line 59 of file test/geometric_shapes.cpp.

FCL_CHECK_EQUAL

#define FCL_CHECK_EQUAL	(		a,
			b
	)

Value:

BOOST_CHECK_MESSAGE((a) == (b), "from line " << line << ": " #a "[" << (a) \
                                               << "] != " #b "[" << (b)      \
                                               << "].")

Definition at line 61 of file test/geometric_shapes.cpp.

SET_LINE

#define SET_LINE   line = __LINE__

Definition at line 58 of file test/geometric_shapes.cpp.

Function Documentation

BOOST_AUTO_TEST_CASE() [1/46]

BOOST_AUTO_TEST_CASE

(

box_to_bvh

)

Definition at line 210 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [2/46]

BOOST_AUTO_TEST_CASE

(

sphere_to_bvh

)

Definition at line 216 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [3/46]

BOOST_AUTO_TEST_CASE

(

cylinder_to_bvh

)

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

BOOST_AUTO_TEST_CASE() [4/46]

BOOST_AUTO_TEST_CASE

(

cone_to_bvh

)

Definition at line 230 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [5/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_cylinderbox

)

Definition at line 237 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [6/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_spheresphere

)

Definition at line 293 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [7/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_boxbox

)

Definition at line 439 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [8/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_spherebox

)

Definition at line 505 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [9/46]

BOOST_AUTO_TEST_CASE

(

shapeDistance_spherebox

)

Definition at line 559 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [10/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_spherecapsule

)

Definition at line 582 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [11/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_cylindercylinder

)

Definition at line 647 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [12/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_spheretriangle

)

Definition at line 835 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [13/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_halfspacetriangle

)

Definition at line 882 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [14/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_planetriangle

)

Definition at line 938 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [15/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_halfspacesphere

)

Definition at line 982 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [16/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_planesphere

)

Definition at line 1071 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [17/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_halfspacebox

)

Definition at line 1154 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [18/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_planebox

)

Definition at line 1248 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [19/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_halfspacecapsule

)

Definition at line 1336 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [20/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_planecapsule

)

Definition at line 1577 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [21/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_halfspacecylinder

)

Definition at line 1800 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [22/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_planecylinder

)

Definition at line 2041 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [23/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_halfspacecone

)

Definition at line 2264 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [24/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersection_planecone

)

Definition at line 2505 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [25/46]

BOOST_AUTO_TEST_CASE

(

shapeDistance_spheresphere

)

Definition at line 2729 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [26/46]

BOOST_AUTO_TEST_CASE

(

shapeDistance_boxbox

)

Definition at line 2812 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [27/46]

BOOST_AUTO_TEST_CASE

(

shapeDistance_boxsphere

)

Definition at line 2900 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [28/46]

BOOST_AUTO_TEST_CASE

(

shapeDistance_cylindercylinder

)

Definition at line 2964 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [29/46]

BOOST_AUTO_TEST_CASE

(

shapeDistance_conecone

)

Definition at line 3010 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [30/46]

BOOST_AUTO_TEST_CASE

(

shapeDistance_conecylinder

)

Definition at line 3056 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [31/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersectionGJK_spheresphere

)

Definition at line 3102 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [32/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersectionGJK_boxbox

)

Definition at line 3199 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [33/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersectionGJK_spherebox

)

Definition at line 3257 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [34/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersectionGJK_spherecapsule

)

Definition at line 3315 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [35/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersectionGJK_cylindercylinder

)

Definition at line 3368 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [36/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersectionGJK_conecone

)

Definition at line 3425 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [37/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersectionGJK_conecylinder

)

Definition at line 3494 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [38/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersectionGJK_spheretriangle

)

Definition at line 3569 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [39/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersectionGJK_halfspacetriangle

)

Definition at line 3617 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [40/46]

BOOST_AUTO_TEST_CASE

(

shapeIntersectionGJK_planetriangle

)

Definition at line 3665 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [41/46]

BOOST_AUTO_TEST_CASE

(

spheresphere

)

Definition at line 3713 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [42/46]

BOOST_AUTO_TEST_CASE

(

boxbox

)

Definition at line 3796 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [43/46]

BOOST_AUTO_TEST_CASE

(

boxsphere

)

Definition at line 3842 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [44/46]

BOOST_AUTO_TEST_CASE

(

cylindercylinder

)

Definition at line 3888 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [45/46]

BOOST_AUTO_TEST_CASE

(

conecone

)

Definition at line 3934 of file test/geometric_shapes.cpp.

BOOST_AUTO_TEST_CASE() [46/46]

BOOST_AUTO_TEST_CASE

(

reversibleShapeDistance_allshapes

)

Definition at line 4019 of file test/geometric_shapes.cpp.

compareContact()

template<typename S1 , typename S2 >

void compareContact	(	const S1 &	s1,
		const Transform3f &	tf1,
		const S2 &	s2,
		const Transform3f &	tf2,
		const Vec3f &	contact,
		Vec3f *	expected_point,
		FCL_REAL	depth,
		FCL_REAL *	expected_depth,
		const Vec3f &	normal,
		Vec3f *	expected_normal,
		bool	check_opposite_normal,
		FCL_REAL	tol
	)

Definition at line 129 of file test/geometric_shapes.cpp.

compareContactPoints()

bool compareContactPoints	(	const Vec3f &	c1,
		const Vec3f &	c2
	)

Definition at line 390 of file test/geometric_shapes.cpp.

printComparisonError() [1/2]

template<typename S1 , typename S2 >

void printComparisonError	(	const std::string &	comparison_type,
		const S1 &	s1,
		const Transform3f &	tf1,
		const S2 &	s2,
		const Transform3f &	tf2,
		const Vec3f &	contact_or_normal,
		const Vec3f &	expected_contact_or_normal,
		bool	check_opposite_normal,
		FCL_REAL	tol
	)

Definition at line 80 of file test/geometric_shapes.cpp.

printComparisonError() [2/2]

template<typename S1 , typename S2 >

void printComparisonError	(	const std::string &	comparison_type,
		const S1 &	s1,
		const Transform3f &	tf1,
		const S2 &	s2,
		const Transform3f &	tf2,
		FCL_REAL	depth,
		FCL_REAL	expected_depth,
		FCL_REAL	tol
	)

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

testBoxBoxContactPoints()

void testBoxBoxContactPoints

(

const Matrix3f &

R

)

Definition at line 394 of file test/geometric_shapes.cpp.

testReversibleShapeDistance()

template<typename S1 , typename S2 >

void testReversibleShapeDistance	(	const S1 &	s1,
		const S2 &	s2,
		FCL_REAL	distance
	)

Definition at line 3981 of file test/geometric_shapes.cpp.

testShapeIntersection()

template<typename S1 , typename S2 >

void testShapeIntersection	(	const S1 &	s1,
		const Transform3f &	tf1,
		const S2 &	s2,
		const Transform3f &	tf2,
		bool	expect_collision,
		Vec3f *	expected_point = NULL,
		FCL_REAL *	expected_depth = NULL,
		Vec3f *	expected_normal = NULL,
		bool	check_opposite_normal = false,
		FCL_REAL	tol = 1e-9
	)

Definition at line 165 of file test/geometric_shapes.cpp.

Variable Documentation

extents

FCL_REAL extents[6] = {0, 0, 0, 10, 10, 10}

Definition at line 51 of file test/geometric_shapes.cpp.

line

int line

Definition at line 57 of file test/geometric_shapes.cpp.

solver1

GJKSolver solver1

Definition at line 54 of file test/geometric_shapes.cpp.

solver2

GJKSolver solver2

Definition at line 55 of file test/geometric_shapes.cpp.

tol_gjk

FCL_REAL tol_gjk = 0.01

Definition at line 53 of file test/geometric_shapes.cpp.