test/gjk.cpp File Reference

#include <time.h>
#include <boost/test/included/unit_test.hpp>
#include <Eigen/Geometry>
#include <hpp/fcl/narrowphase/narrowphase.h>
#include <hpp/fcl/shape/geometric_shapes.h>
#include <hpp/fcl/internal/tools.h>
#include "utility.h"

Include dependency graph for test/gjk.cpp:

Go to the source code of this file.

Classes
struct	Result

Macros
#define	BOOST_TEST_MODULE   FCL_GJK

Typedefs
typedef Eigen::Matrix< FCL_REAL, Eigen::Dynamic, Eigen::Dynamic >	matrix_t
typedef std::vector< Result >	Results_t
typedef Eigen::Matrix< FCL_REAL, 4, 1 >	vector4_t
typedef Eigen::Matrix< FCL_REAL, 6, 1 >	vector6_t
typedef Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 1 >	vector_t

Functions
	BOOST_AUTO_TEST_CASE (distance_triangle_triangle_1)
	BOOST_AUTO_TEST_CASE (sphere_sphere)
	BOOST_AUTO_TEST_CASE (triangle_capsule)
void	test_gjk_distance_triangle_triangle (bool enable_gjk_nesterov_acceleration)
void	test_gjk_triangle_capsule (Vec3f T, bool expect_collision, bool use_gjk_nesterov_acceleration, Vec3f w0_expected, Vec3f w1_expected)
void	test_gjk_unit_sphere (FCL_REAL center_distance, Vec3f ray, bool expect_collision, bool use_gjk_nesterov_acceleration)

Macro Definition Documentation

BOOST_TEST_MODULE

#define BOOST_TEST_MODULE   FCL_GJK

Author

Florent Lamiraux flore.nosp@m.nt@l.nosp@m.aas.f.nosp@m.r

Definition at line 37 of file test/gjk.cpp.

Typedef Documentation

matrix_t

typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, Eigen::Dynamic> matrix_t

Definition at line 60 of file test/gjk.cpp.

Results_t

typedef std::vector<Result> Results_t

Definition at line 68 of file test/gjk.cpp.

vector4_t

typedef Eigen::Matrix<FCL_REAL, 4, 1> vector4_t

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

vector6_t

typedef Eigen::Matrix<FCL_REAL, 6, 1> vector6_t

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

vector_t

typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 1> vector_t

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

Function Documentation

BOOST_AUTO_TEST_CASE() [1/3]

BOOST_AUTO_TEST_CASE

(

distance_triangle_triangle_1

)

Definition at line 314 of file test/gjk.cpp.

BOOST_AUTO_TEST_CASE() [2/3]

BOOST_AUTO_TEST_CASE

(

sphere_sphere

)

Definition at line 355 of file test/gjk.cpp.

BOOST_AUTO_TEST_CASE() [3/3]

BOOST_AUTO_TEST_CASE

(

triangle_capsule

)

Definition at line 422 of file test/gjk.cpp.

test_gjk_distance_triangle_triangle()

void test_gjk_distance_triangle_triangle

(

bool

enable_gjk_nesterov_acceleration

)

Definition at line 70 of file test/gjk.cpp.

test_gjk_triangle_capsule()

void test_gjk_triangle_capsule	(	Vec3f	T,
		bool	expect_collision,
		bool	use_gjk_nesterov_acceleration,
		Vec3f	w0_expected,
		Vec3f	w1_expected
	)

Definition at line 375 of file test/gjk.cpp.

test_gjk_unit_sphere()

void test_gjk_unit_sphere	(	FCL_REAL	center_distance,
		Vec3f	ray,
		bool	expect_collision,
		bool	use_gjk_nesterov_acceleration
	)

Definition at line 319 of file test/gjk.cpp.