test_fcl_signed_distance.cpp File Reference

#include <gtest/gtest.h>
#include "eigen_matrix_compare.h"
#include "fcl/narrowphase/distance.h"
#include "fcl/narrowphase/detail/traversal/collision_node.h"
#include "fcl/narrowphase/detail/gjk_solver_libccd.h"
#include "test_fcl_utility.h"
#include "fcl_resources/config.h"

Include dependency graph for test_fcl_signed_distance.cpp:

Go to the source code of this file.

Functions
	GTEST_TEST (FCL_NEGATIVE_DISTANCE, sphere_capsule_ccd)
	GTEST_TEST (FCL_NEGATIVE_DISTANCE, sphere_capsule_indep)
	GTEST_TEST (FCL_NEGATIVE_DISTANCE, sphere_sphere_ccd)
	GTEST_TEST (FCL_NEGATIVE_DISTANCE, sphere_sphere_indep)
	GTEST_TEST (FCL_SIGNED_DISTANCE, cylinder_box_ccd)
	GTEST_TEST (FCL_SIGNED_DISTANCE, cylinder_sphere1_ccd)
	GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression)
int	main (int argc, char *argv[])
template<typename S >
void	test_distance_box_box_helper (const Vector3< S > &box1_size, const Transform3< S > &X_WB1, const Vector3< S > &box2_size, const Transform3< S > &X_WB2, const S *expected_distance=nullptr)
template<typename S >
void	test_distance_box_box_regression1 ()
template<typename S >
void	test_distance_box_box_regression2 ()
template<typename S >
void	test_distance_box_box_regression3 ()
template<typename S >
void	test_distance_box_box_regression4 ()
template<typename S >
void	test_distance_box_box_regression5 ()
template<typename S >
void	test_distance_box_box_regression6 ()
template<typename S >
void	test_distance_box_box_regression_tilted_kissing_contact ()
template<typename S >
void	test_distance_cylinder_box ()
template<typename S >
void	test_distance_cylinder_box_helper (S cylinder_radius, S cylinder_length, const Transform3< S > &X_WC, const Vector3< S > &box_size, const Transform3< S > &X_WB)
template<typename S >
void	test_distance_cylinder_sphere1 ()
template<typename S >
void	test_distance_sphere_box_regression1 ()
template<typename S >
void	test_distance_spherecapsule (GJKSolverType solver_type)
template<typename S >
void	test_distance_spheresphere (GJKSolverType solver_type)

Variables
bool	verbose = false

Function Documentation

GTEST_TEST() [1/7]

GTEST_TEST	(	FCL_NEGATIVE_DISTANCE	,
		sphere_capsule_ccd
	)

Definition at line 580 of file test_fcl_signed_distance.cpp.

GTEST_TEST() [2/7]

GTEST_TEST	(	FCL_NEGATIVE_DISTANCE	,
		sphere_capsule_indep
	)

Definition at line 584 of file test_fcl_signed_distance.cpp.

GTEST_TEST() [3/7]

GTEST_TEST	(	FCL_NEGATIVE_DISTANCE	,
		sphere_sphere_ccd
	)

Definition at line 572 of file test_fcl_signed_distance.cpp.

GTEST_TEST() [4/7]

GTEST_TEST	(	FCL_NEGATIVE_DISTANCE	,
		sphere_sphere_indep
	)

Definition at line 576 of file test_fcl_signed_distance.cpp.

GTEST_TEST() [5/7]

GTEST_TEST	(	FCL_SIGNED_DISTANCE	,
		cylinder_box_ccd
	)

Definition at line 592 of file test_fcl_signed_distance.cpp.

GTEST_TEST() [6/7]

GTEST_TEST	(	FCL_SIGNED_DISTANCE	,
		cylinder_sphere1_ccd
	)

Definition at line 588 of file test_fcl_signed_distance.cpp.

GTEST_TEST() [7/7]

GTEST_TEST	(	FCL_SIGNED_DISTANCE	,
		RealWorldRegression
	)

Definition at line 596 of file test_fcl_signed_distance.cpp.

main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 610 of file test_fcl_signed_distance.cpp.

test_distance_box_box_helper()

template<typename S >

void test_distance_box_box_helper	(	const Vector3< S > &	box1_size,
		const Transform3< S > &	X_WB1,
		const Vector3< S > &	box2_size,
		const Transform3< S > &	X_WB2,
		const S *	expected_distance = nullptr
	)

Definition at line 301 of file test_fcl_signed_distance.cpp.

test_distance_box_box_regression1()

template<typename S >

void test_distance_box_box_regression1

(

)

Definition at line 357 of file test_fcl_signed_distance.cpp.

test_distance_box_box_regression2()

template<typename S >

void test_distance_box_box_regression2

(

)

Definition at line 383 of file test_fcl_signed_distance.cpp.

test_distance_box_box_regression3()

template<typename S >

void test_distance_box_box_regression3

(

)

Definition at line 407 of file test_fcl_signed_distance.cpp.

test_distance_box_box_regression4()

template<typename S >

void test_distance_box_box_regression4

(

)

Definition at line 431 of file test_fcl_signed_distance.cpp.

test_distance_box_box_regression5()

template<typename S >

void test_distance_box_box_regression5

(

)

Definition at line 445 of file test_fcl_signed_distance.cpp.

test_distance_box_box_regression6()

template<typename S >

void test_distance_box_box_regression6

(

)

Definition at line 457 of file test_fcl_signed_distance.cpp.

test_distance_box_box_regression_tilted_kissing_contact()

template<typename S >

void test_distance_box_box_regression_tilted_kissing_contact

(

)

Definition at line 489 of file test_fcl_signed_distance.cpp.

test_distance_cylinder_box()

template<typename S >

void test_distance_cylinder_box

(

)

Definition at line 257 of file test_fcl_signed_distance.cpp.

test_distance_cylinder_box_helper()

template<typename S >

void test_distance_cylinder_box_helper	(	S	cylinder_radius,
		S	cylinder_length,
		const Transform3< S > &	X_WC,
		const Vector3< S > &	box_size,
		const Transform3< S > &	X_WB
	)

Definition at line 221 of file test_fcl_signed_distance.cpp.

test_distance_cylinder_sphere1()

template<typename S >

void test_distance_cylinder_sphere1

(

)

Definition at line 170 of file test_fcl_signed_distance.cpp.

test_distance_sphere_box_regression1()

template<typename S >

void test_distance_sphere_box_regression1

(

)

Definition at line 535 of file test_fcl_signed_distance.cpp.

test_distance_spherecapsule()

template<typename S >

void test_distance_spherecapsule

(

GJKSolverType

solver_type

)

Definition at line 122 of file test_fcl_signed_distance.cpp.

test_distance_spheresphere()

template<typename S >

void test_distance_spheresphere

(

GJKSolverType

solver_type

)

Definition at line 51 of file test_fcl_signed_distance.cpp.

Variable Documentation

verbose

bool verbose = false

Definition at line 47 of file test_fcl_signed_distance.cpp.