38 #define BOOST_TEST_MODULE FCL_SHAPE_MESH_CONSISTENCY
39 #include <boost/test/included/unit_test.hpp>
49 #define BOOST_CHECK_FALSE(p) BOOST_CHECK(!(p))
86 for (std::size_t i = 0; i < 10; ++i) {
96 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
101 distance(&s1, pose1, &s2_rss, pose2, request, res1);
106 distance(&s1_rss, pose1, &s2, pose2, request, res1);
129 for (std::size_t i = 0; i < 10; ++i) {
139 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
144 distance(&s1, pose1, &s2_rss, pose2, request, res1);
149 distance(&s1_rss, pose1, &s2, pose2, request, res1);
189 for (std::size_t i = 0; i < 10; ++i) {
199 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
204 distance(&s1, pose1, &s2_rss, pose2, request, res1);
209 distance(&s1_rss, pose1, &s2, pose2, request, res1);
233 for (std::size_t i = 0; i < 10; ++i) {
243 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
248 distance(&s1, pose1, &s2_rss, pose2, request, res1);
253 distance(&s1_rss, pose1, &s2, pose2, request, res1);
293 for (std::size_t i = 0; i < 10; ++i) {
303 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
308 distance(&s1, pose1, &s2_rss, pose2, request, res1);
313 distance(&s1_rss, pose1, &s2, pose2, request, res1);
338 for (std::size_t i = 0; i < 10; ++i) {
348 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
353 distance(&s1, pose1, &s2_rss, pose2, request, res1);
358 distance(&s1_rss, pose1, &s2, pose2, request, res1);
397 for (std::size_t i = 0; i < 10; ++i) {
407 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
412 distance(&s1, pose1, &s2_rss, pose2, request, res1);
417 distance(&s1_rss, pose1, &s2, pose2, request, res1);
442 for (std::size_t i = 0; i < 10; ++i) {
452 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
457 distance(&s1, pose1, &s2_rss, pose2, request, res1);
462 distance(&s1_rss, pose1, &s2, pose2, request, res1);
501 for (std::size_t i = 0; i < 10; ++i) {
511 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
516 distance(&s1, pose1, &s2_rss, pose2, request, res1);
521 distance(&s1_rss, pose1, &s2, pose2, request, res1);
545 for (std::size_t i = 0; i < 10; ++i) {
555 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
560 distance(&s1, pose1, &s2_rss, pose2, request, res1);
565 distance(&s1_rss, pose1, &s2, pose2, request, res1);
605 for (std::size_t i = 0; i < 10; ++i) {
615 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
620 distance(&s1, pose1, &s2_rss, pose2, request, res1);
625 distance(&s1_rss, pose1, &s2, pose2, request, res1);
649 for (std::size_t i = 0; i < 10; ++i) {
659 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
664 distance(&s1, pose1, &s2_rss, pose2, request, res1);
669 distance(&s1_rss, pose1, &s2, pose2, request, res1);
709 for (std::size_t i = 0; i < 10; ++i) {
719 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
721 std::cout <<
"low resolution: " << res1.
min_distance <<
" "
722 <<
res.min_distance << std::endl;
728 distance(&s1, pose1, &s2_rss, pose2, request, res1);
730 std::cout <<
"low resolution: " << res1.
min_distance <<
" "
731 <<
res.min_distance << std::endl;
737 distance(&s1_rss, pose1, &s2, pose2, request, res1);
739 std::cout <<
"low resolution: " << res1.
min_distance <<
" "
740 <<
res.min_distance << std::endl;
765 for (std::size_t i = 0; i < 10; ++i) {
775 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
780 distance(&s1, pose1, &s2_rss, pose2, request, res1);
785 distance(&s1_rss, pose1, &s2, pose2, request, res1);
825 for (std::size_t i = 0; i < 10; ++i) {
835 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
840 distance(&s1, pose1, &s2_rss, pose2, request, res1);
845 distance(&s1_rss, pose1, &s2, pose2, request, res1);
869 for (std::size_t i = 0; i < 10; ++i) {
879 distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
884 distance(&s1, pose1, &s2_rss, pose2, request, res1);
889 distance(&s1_rss, pose1, &s2, pose2, request, res1);
1048 Vec3f(-29.8, 0, 0));
1050 Vec3f(-29.8, 0, 0));
1741 Vec3f(-29.8, 0, 0));
1743 Vec3f(-29.8, 0, 0));