swept_sphere_radius.cpp File Reference

#include <boost/test/included/unit_test.hpp>
#include "coal/narrowphase/narrowphase.h"
#include "coal/collision_utility.h"
#include "coal/serialization/geometric_shapes.h"
#include "coal/serialization/convex.h"
#include "coal/serialization/transform.h"
#include "coal/serialization/archive.h"
#include "utility.h"

Include dependency graph for swept_sphere_radius.cpp:

Go to the source code of this file.

Classes
struct	SweptSphereGJKSolver

Macros
#define	BOOST_TEST_MODULE   COAL_SWEPT_SPHERE_RADIUS
#define	COAL_CHECK(cond)
#define	COAL_CHECK_CONDITION(cond)
#define	COAL_CHECK_REAL_CLOSE(v1, v2, tol)
#define	COAL_CHECK_VECTOR_CLOSE(v1, v2, tol)
#define	SET_LINE

Functions
	BOOST_AUTO_TEST_CASE (ssr_box_box)
	BOOST_AUTO_TEST_CASE (ssr_capsule_capsule)
	BOOST_AUTO_TEST_CASE (ssr_capsule_cone)
	BOOST_AUTO_TEST_CASE (ssr_cone_cone)
	BOOST_AUTO_TEST_CASE (ssr_cone_ellipsoid)
	BOOST_AUTO_TEST_CASE (ssr_cylinder_cylinder)
	BOOST_AUTO_TEST_CASE (ssr_ellipsoid_box)
	BOOST_AUTO_TEST_CASE (ssr_ellipsoid_ellipsoid)
	BOOST_AUTO_TEST_CASE (ssr_geom_geom)
	BOOST_AUTO_TEST_CASE (ssr_mesh_ellipsoid)
	BOOST_AUTO_TEST_CASE (ssr_mesh_mesh)
template<typename S1 , typename S2 >
void	test_collide_swept_sphere_radius (S1 &shape1, S2 &shape2)
template<typename S1 , typename S2 >
void	test_gjksolver_swept_sphere_radius (S1 &shape1, S2 &shape2)

Variables
int	line
static const CoalScalar	max_shape_size = 0.5
static const CoalScalar	min_shape_size = 0.1
NODE_TYPE	node1_type
NODE_TYPE	node2_type
const std::vector< NODE_TYPE >	tested_geometries

Macro Definition Documentation

BOOST_TEST_MODULE

#define BOOST_TEST_MODULE   COAL_SWEPT_SPHERE_RADIUS

Author

Louis Montaut

Definition at line 37 of file swept_sphere_radius.cpp.

COAL_CHECK

#define COAL_CHECK

(

cond

)

Value:

  BOOST_CHECK_MESSAGE(                                                       \
      cond, "from line " << line << ", for collision pair: "                 \
                         << get_node_type_name(node1_type) << " - "          \
                         << get_node_type_name(node2_type)                   \
                         << " with ssr1 = " << shape1.getSweptSphereRadius() \
                         << ", ssr2 = " << shape2.getSweptSphereRadius()     \
                         << ": " #cond)

Definition at line 61 of file swept_sphere_radius.cpp.

COAL_CHECK_CONDITION

#define COAL_CHECK_CONDITION

(

cond

)

Value:

  BOOST_CHECK(cond);               \
  COAL_CHECK(cond)

Definition at line 78 of file swept_sphere_radius.cpp.

COAL_CHECK_REAL_CLOSE

#define COAL_CHECK_REAL_CLOSE	(		v1,
			v2,
			tol
	)

Value:

  CoalScalar_IS_APPROX(v1, v2, tol);       \
  COAL_CHECK(std::abs((v1) - (v2)) < tol)

Definition at line 74 of file swept_sphere_radius.cpp.

COAL_CHECK_VECTOR_CLOSE

#define COAL_CHECK_VECTOR_CLOSE	(		v1,
			v2,
			tol
	)

Value:

  EIGEN_VECTOR_IS_APPROX(v1, v2, tol);       \
  COAL_CHECK(((v1) - (v2)).isZero(tol))

Definition at line 70 of file swept_sphere_radius.cpp.

SET_LINE

#define SET_LINE

Value:

  node1_type = shape1.getNodeType(); \
  node2_type = shape2.getNodeType(); \
  line = __LINE__

Definition at line 56 of file swept_sphere_radius.cpp.

Function Documentation

BOOST_AUTO_TEST_CASE() [1/11]

BOOST_AUTO_TEST_CASE

(

ssr_box_box

)

Definition at line 221 of file swept_sphere_radius.cpp.

BOOST_AUTO_TEST_CASE() [2/11]

BOOST_AUTO_TEST_CASE

(

ssr_capsule_capsule

)

Definition at line 254 of file swept_sphere_radius.cpp.

BOOST_AUTO_TEST_CASE() [3/11]

BOOST_AUTO_TEST_CASE

(

ssr_capsule_cone

)

Definition at line 262 of file swept_sphere_radius.cpp.

BOOST_AUTO_TEST_CASE() [4/11]

BOOST_AUTO_TEST_CASE

(

ssr_cone_cone

)

Definition at line 239 of file swept_sphere_radius.cpp.

BOOST_AUTO_TEST_CASE() [5/11]

BOOST_AUTO_TEST_CASE

(

ssr_cone_ellipsoid

)

Definition at line 247 of file swept_sphere_radius.cpp.

BOOST_AUTO_TEST_CASE() [6/11]

BOOST_AUTO_TEST_CASE

(

ssr_cylinder_cylinder

)

Definition at line 270 of file swept_sphere_radius.cpp.

BOOST_AUTO_TEST_CASE() [7/11]

BOOST_AUTO_TEST_CASE

(

ssr_ellipsoid_box

)

Definition at line 233 of file swept_sphere_radius.cpp.

BOOST_AUTO_TEST_CASE() [8/11]

BOOST_AUTO_TEST_CASE

(

ssr_ellipsoid_ellipsoid

)

Definition at line 227 of file swept_sphere_radius.cpp.

BOOST_AUTO_TEST_CASE() [9/11]

BOOST_AUTO_TEST_CASE

(

ssr_geom_geom

)

Definition at line 367 of file swept_sphere_radius.cpp.

BOOST_AUTO_TEST_CASE() [10/11]

BOOST_AUTO_TEST_CASE

(

ssr_mesh_ellipsoid

)

Definition at line 215 of file swept_sphere_radius.cpp.

BOOST_AUTO_TEST_CASE() [11/11]

BOOST_AUTO_TEST_CASE

(

ssr_mesh_mesh

)

Definition at line 209 of file swept_sphere_radius.cpp.

test_collide_swept_sphere_radius()

template<typename S1 , typename S2 >

void test_collide_swept_sphere_radius	(	S1 &	shape1,
		S2 &	shape2
	)

Definition at line 279 of file swept_sphere_radius.cpp.

test_gjksolver_swept_sphere_radius()

template<typename S1 , typename S2 >

void test_gjksolver_swept_sphere_radius	(	S1 &	shape1,
		S2 &	shape2
	)

Definition at line 136 of file swept_sphere_radius.cpp.

Variable Documentation

line

int line

Definition at line 54 of file swept_sphere_radius.cpp.

max_shape_size

const CoalScalar max_shape_size = 0.5

static

Definition at line 207 of file swept_sphere_radius.cpp.

min_shape_size

const CoalScalar min_shape_size = 0.1

static

Definition at line 206 of file swept_sphere_radius.cpp.

node1_type

NODE_TYPE node1_type

Definition at line 52 of file swept_sphere_radius.cpp.

node2_type

NODE_TYPE node2_type

Definition at line 53 of file swept_sphere_radius.cpp.

tested_geometries

const std::vector<NODE_TYPE> tested_geometries

Initial value:

= {
    GEOM_BOX,      GEOM_SPHERE, GEOM_ELLIPSOID, GEOM_CAPSULE,  GEOM_CONE,
    GEOM_CYLINDER, GEOM_CONVEX, GEOM_PLANE,     GEOM_HALFSPACE}

Definition at line 363 of file swept_sphere_radius.cpp.