#include <boost/test/included/unit_test.hpp>
#include <boost/filesystem.hpp>
#include "fcl_resources/config.h"
#include "coal/collision.h"
#include "coal/hfield.h"
#include "coal/math/transform.h"
#include "coal/shape/geometric_shapes.h"
#include "coal/mesh_loader/assimp.h"
#include "coal/mesh_loader/loader.h"
#include "coal/internal/traversal_node_hfield_shape.h"
#include "utility.h"
#include <iostream>

Include dependency graph for hfields.cpp:

Macros
#define	BOOST_TEST_MODULE COAL_HEIGHT_FIELDS

Functions
	BOOST_AUTO_TEST_CASE (building_constant_hfields)

	BOOST_AUTO_TEST_CASE (hfield_with_circular_hole)

	BOOST_AUTO_TEST_CASE (hfield_with_square_hole)

	BOOST_AUTO_TEST_CASE (negative_security_margin)

	BOOST_AUTO_TEST_CASE (test_hfield_bin_active_faces)

	BOOST_AUTO_TEST_CASE (test_hfield_bin_face_normal_orientation)

	BOOST_AUTO_TEST_CASE (test_hfield_single_bin)

Vec3s	computeFaceNormal (const Triangle &triangle, const std::vector< Vec3s > &points)

bool	isApprox (const CoalScalar v1, const CoalScalar v2, const CoalScalar tol=1e-6)

template<typename BV >
void	test_constant_hfields (const Eigen::DenseIndex nx, const Eigen::DenseIndex ny, const CoalScalar min_altitude, const CoalScalar max_altitude)

template<typename BV >
void	test_negative_security_margin (const Eigen::DenseIndex nx, const Eigen::DenseIndex ny, const CoalScalar min_altitude, const CoalScalar max_altitude)

Macro Definition Documentation

◆ BOOST_TEST_MODULE

#define BOOST_TEST_MODULE COAL_HEIGHT_FIELDS

Author: Justin Carpentier

Definition at line 37 of file hfields.cpp.

Function Documentation

◆ BOOST_AUTO_TEST_CASE() [1/7]

BOOST_AUTO_TEST_CASE ( building_constant_hfields )

Definition at line 258 of file hfields.cpp.

◆ BOOST_AUTO_TEST_CASE() [2/7]

BOOST_AUTO_TEST_CASE ( hfield_with_circular_hole )

Definition at line 456 of file hfields.cpp.

◆ BOOST_AUTO_TEST_CASE() [3/7]

BOOST_AUTO_TEST_CASE ( hfield_with_square_hole )

Definition at line 414 of file hfields.cpp.

◆ BOOST_AUTO_TEST_CASE() [4/7]

BOOST_AUTO_TEST_CASE ( negative_security_margin )

Definition at line 406 of file hfields.cpp.

◆ BOOST_AUTO_TEST_CASE() [5/7]

BOOST_AUTO_TEST_CASE ( test_hfield_bin_active_faces )

Definition at line 678 of file hfields.cpp.

◆ BOOST_AUTO_TEST_CASE() [6/7]

BOOST_AUTO_TEST_CASE ( test_hfield_bin_face_normal_orientation )

Definition at line 532 of file hfields.cpp.

◆ BOOST_AUTO_TEST_CASE() [7/7]

BOOST_AUTO_TEST_CASE ( test_hfield_single_bin )

Definition at line 716 of file hfields.cpp.

◆ computeFaceNormal()

Vec3s computeFaceNormal	(	const Triangle &	triangle,
		const std::vector< Vec3s > &	points
	)

Definition at line 523 of file hfields.cpp.

◆ isApprox()

bool isApprox	(	const CoalScalar	v1,
		const CoalScalar	v2,
		const CoalScalar	tol = `1e-6`
	)

Definition at line 518 of file hfields.cpp.

◆ test_constant_hfields()

template<typename BV >

void test_constant_hfields	(	const Eigen::DenseIndex	nx,
		const Eigen::DenseIndex	ny,
		const CoalScalar	min_altitude,
		const CoalScalar	max_altitude
	)

Definition at line 59 of file hfields.cpp.

◆ test_negative_security_margin()