box_box_collision.cpp
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1 #define BOOST_TEST_MODULE BOX_BOX_COLLISION
2 #include <boost/test/included/unit_test.hpp>
3 
4 #include <Eigen/Geometry>
8 
9 #include "utility.h"
10 
11 using hpp::fcl::Box;
12 using hpp::fcl::collide;
16 using hpp::fcl::FCL_REAL;
18 using hpp::fcl::Vec3f;
19 
20 BOOST_AUTO_TEST_CASE(box_box_collision) {
21  // Define boxes
22  Box shape1(1, 1, 1);
23  Box shape2(1, 1, 1);
24 
25  // Define transforms
26  Transform3f T1 = Transform3f::Identity();
27  Transform3f T2 = Transform3f::Identity();
28 
29  // Compute collision
30  CollisionRequest req;
31  req.enable_cached_gjk_guess = true;
32  req.distance_upper_bound = 1e-6;
34  ComputeCollision collide_functor(&shape1, &shape2);
35 
36  T1.setTranslation(Vec3f(0, 0, 0));
37  res.clear();
38  BOOST_CHECK(collide(&shape1, T1, &shape2, T2, req, res) == true);
39  res.clear();
40  BOOST_CHECK(collide_functor(T1, T2, req, res) == true);
41 
42  T1.setTranslation(Vec3f(2, 0, 0));
43  res.clear();
44  BOOST_CHECK(collide(&shape1, T1, &shape2, T2, req, res) == false);
45  res.clear();
46  BOOST_CHECK(collide_functor(T1, T2, req, res) == false);
47 }
hpp::fcl::ComputeCollision
This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shap...
Definition: collision.h:103
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
utility.h
BOOST_AUTO_TEST_CASE
BOOST_AUTO_TEST_CASE(box_box_collision)
Definition: box_box_collision.cpp:20
narrowphase.h
hpp::fcl::collide
HPP_FCL_DLLAPI std::size_t collide(const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
Main collision interface: given two collision objects, and the requirements for contacts,...
Definition: src/collision.cpp:63
res
res
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:65
hpp::fcl::CollisionRequest
request to the collision algorithm
Definition: collision_data.h:235
hpp::fcl::CollisionResult
collision result
Definition: collision_data.h:302
hpp::fcl::QueryRequest::enable_cached_gjk_guess
bool enable_cached_gjk_guess
whether enable gjk initial guess @Deprecated Use gjk_initial_guess instead
Definition: collision_data.h:126
hpp::fcl::Transform3f
Simple transform class used locally by InterpMotion.
Definition: transform.h:54
hpp::fcl::CollisionRequest::distance_upper_bound
FCL_REAL distance_upper_bound
Distance above which GJK solver makes an early stopping. GJK stops searching for the closest points w...
Definition: collision_data.h:263
geometric_shapes.h
hpp::fcl::Transform3f::setTranslation
void setTranslation(const Eigen::MatrixBase< Derived > &T_)
set transform from translation
Definition: transform.h:142
tools.h
hpp::fcl::Box
Center at zero point, axis aligned box.
Definition: shape/geometric_shapes.h:125


hpp-fcl
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autogenerated on Fri Aug 2 2024 02:45:12