GCC Code Coverage Report


Directory: ./
File: test/box_box_distance.cpp
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 146 147 99.3%
Branches: 527 1054 50.0%

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1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2014-2016, CNRS-LAAS.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of Willow Garage, Inc. nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 */
34
35 /** \author Florent Lamiraux <florent@laas.fr> */
36
37 #define _USE_MATH_DEFINES
38 #include <cmath>
39
40 #define BOOST_TEST_MODULE COAL_BOX_BOX
41 #include <boost/test/included/unit_test.hpp>
42
43 #define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE((x + 1.0), (1.0), (eps))
44
45 #include <cmath>
46 #include <iostream>
47 #include "coal/distance.h"
48 #include "coal/math/transform.h"
49 #include "coal/collision.h"
50 #include "coal/collision_object.h"
51 #include "coal/shape/geometric_shapes.h"
52
53 #include "utility.h"
54
55 using coal::CollisionGeometryPtr_t;
56 using coal::CollisionObject;
57 using coal::DistanceRequest;
58 using coal::DistanceResult;
59 using coal::Scalar;
60 using coal::Transform3s;
61 using coal::Vec3s;
62
63
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4 BOOST_AUTO_TEST_CASE(distance_box_box_1) {
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2 CollisionGeometryPtr_t s1(new coal::Box(6, 10, 2));
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2 CollisionGeometryPtr_t s2(new coal::Box(2, 2, 2));
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2 Transform3s tf1;
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2 Transform3s tf2(Vec3s(25, 20, 5));
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2 CollisionObject o1(s1, tf1);
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2 CollisionObject o2(s2, tf2);
72
73 // Enable computation of nearest points
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2 DistanceRequest distanceRequest(true, true, 0, 0);
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2 DistanceResult distanceResult;
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2 coal::distance(&o1, &o2, distanceRequest, distanceResult);
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2 std::cerr << "Applied transformations on two boxes" << std::endl;
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2 std::cerr << " T1 = " << tf1.getTranslation() << std::endl
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2 << " R1 = " << tf1.getRotation() << std::endl
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2 << " T2 = " << tf2.getTranslation() << std::endl
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2 << " R2 = " << tf2.getRotation() << std::endl;
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2 std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0]
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2 << ", p2 = " << distanceResult.nearest_points[1]
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2 << ", distance = " << distanceResult.min_distance << std::endl;
87 2 Scalar dx = 25 - 3 - 1;
88 2 Scalar dy = 20 - 5 - 1;
89 2 Scalar dz = 5 - 1 - 1;
90
91 2 const Vec3s& p1 = distanceResult.nearest_points[0];
92 2 const Vec3s& p2 = distanceResult.nearest_points[1];
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2 BOOST_CHECK_CLOSE(distanceResult.min_distance,
94 sqrt(dx * dx + dy * dy + dz * dz), 1e-4);
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2 BOOST_CHECK_CLOSE(p1[0], 3, 1e-6);
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2 BOOST_CHECK_CLOSE(p1[1], 5, 1e-6);
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2 BOOST_CHECK_CLOSE(p1[2], 1, 1e-6);
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2 BOOST_CHECK_CLOSE(p2[0], 24, 1e-6);
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2 BOOST_CHECK_CLOSE(p2[1], 19, 1e-6);
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2 BOOST_CHECK_CLOSE(p2[2], 4, 1e-6);
102 2 }
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4 BOOST_AUTO_TEST_CASE(distance_box_box_2) {
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2 CollisionGeometryPtr_t s1(new coal::Box(6, 10, 2));
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2 CollisionGeometryPtr_t s2(new coal::Box(2, 2, 2));
107 static Scalar pi = Scalar(M_PI);
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2 Transform3s tf1;
109 Transform3s tf2(
110 coal::makeQuat(cos(Scalar(pi / 8)), sin(Scalar(pi / 8)) / sqrt(Scalar(3)),
111 2 sin(Scalar(pi / 8)) / sqrt(Scalar(3)),
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2 sin(Scalar(pi / 8)) / sqrt(Scalar(3))),
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4 Vec3s(0, 0, 10));
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2 CollisionObject o1(s1, tf1);
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2 CollisionObject o2(s2, tf2);
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118 // Enable computation of nearest points
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2 DistanceRequest distanceRequest(true, true, 0, 0);
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2 DistanceResult distanceResult;
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2 coal::distance(&o1, &o2, distanceRequest, distanceResult);
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2 std::cerr << "Applied transformations on two boxes" << std::endl;
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2 std::cerr << " T1 = " << tf1.getTranslation() << std::endl
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2 << " R1 = " << tf1.getRotation() << std::endl
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2 << " T2 = " << tf2.getTranslation() << std::endl
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2 << " R2 = " << tf2.getRotation() << std::endl;
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2 std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0]
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2 << ", p2 = " << distanceResult.nearest_points[1]
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2 << ", distance = " << distanceResult.min_distance << std::endl;
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133 2 const Vec3s& p1 = distanceResult.nearest_points[0];
134 2 const Vec3s& p2 = distanceResult.nearest_points[1];
135 2 Scalar distance = Scalar(-1.62123444 + 10 - 1);
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2 BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4);
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2 BOOST_CHECK_CLOSE(p1[0], 0.60947571, 1e-4);
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2 BOOST_CHECK_CLOSE(p1[1], 0.01175873, 1e-4);
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2 BOOST_CHECK_CLOSE(p1[2], 1, 1e-6);
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2 BOOST_CHECK_CLOSE(p2[0], 0.60947571, 1e-4);
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2 BOOST_CHECK_CLOSE(p2[1], 0.01175873, 1e-4);
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2 BOOST_CHECK_CLOSE(p2[2], -1.62123444 + 10, 1e-4);
144 2 }
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4 BOOST_AUTO_TEST_CASE(distance_box_box_3) {
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2 CollisionGeometryPtr_t s1(new coal::Box(1, 1, 1));
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2 CollisionGeometryPtr_t s2(new coal::Box(1, 1, 1));
149 static Scalar pi = Scalar(M_PI);
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2 Transform3s tf1(coal::makeQuat(cos(pi / 8), 0, 0, sin(pi / 8)),
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4 Vec3s(-2, 1, .5));
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2 Transform3s tf2(coal::makeQuat(cos(pi / 8), 0, sin(pi / 8), 0),
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4 Vec3s(2, .5, .5));
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2 CollisionObject o1(s1, tf1);
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2 CollisionObject o2(s2, tf2);
157
158 // Enable computation of nearest points
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2 DistanceRequest distanceRequest(true, 0, 0);
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2 DistanceResult distanceResult;
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2 coal::distance(&o1, &o2, distanceRequest, distanceResult);
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2 std::cerr << "Applied transformations on two boxes" << std::endl;
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2 std::cerr << " T1 = " << tf1.getTranslation() << std::endl
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2 << " R1 = " << tf1.getRotation() << std::endl
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2 << " T2 = " << tf2.getTranslation() << std::endl
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2 << " R2 = " << tf2.getRotation() << std::endl;
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2 std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0]
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2 << ", p2 = " << distanceResult.nearest_points[1]
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2 << ", distance = " << distanceResult.min_distance << std::endl;
172
173 2 const Vec3s& p1 = distanceResult.nearest_points[0];
174 2 const Vec3s& p2 = distanceResult.nearest_points[1];
175 2 Scalar distance = Scalar(4 - sqrt(2));
176
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2 BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4);
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2 const Vec3s p1Ref(sqrt(Scalar(2)) / 2 - 2, 1, .5);
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2 const Vec3s p2Ref(2 - sqrt(Scalar(2)) / 2, 1, .5);
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2 BOOST_CHECK_CLOSE(p1[0], p1Ref[0], 1e-4);
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2 BOOST_CHECK_CLOSE(p1[1], p1Ref[1], 1e-4);
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2 BOOST_CHECK_CLOSE(p1[2], p1Ref[2], 1e-4);
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2 BOOST_CHECK_CLOSE(p2[0], p2Ref[0], 1e-4);
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2 BOOST_CHECK_CLOSE(p2[1], p2Ref[1], 1e-4);
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2 BOOST_CHECK_CLOSE(p2[2], p2Ref[2], 1e-4);
186
187 // Apply the same global transform to both objects and recompute
188 Transform3s tf3(
189
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2 coal::makeQuat(Scalar(0.435952844074), Scalar(-0.718287018243),
190 Scalar(0.310622451066), Scalar(0.444435113443)),
191
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4 Vec3s(4, 5, 6));
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2 tf1 = tf3 * tf1;
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2 tf2 = tf3 * tf2;
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2 o1 = CollisionObject(s1, tf1);
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2 o2 = CollisionObject(s2, tf2);
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2 distanceResult.clear();
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2 coal::distance(&o1, &o2, distanceRequest, distanceResult);
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2 std::cerr << "Applied transformations on two boxes" << std::endl;
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2 std::cerr << " T1 = " << tf1.getTranslation() << std::endl
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2 << " R1 = " << tf1.getRotation() << std::endl
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2 << " T2 = " << tf2.getTranslation() << std::endl
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2 << " R2 = " << tf2.getRotation() << std::endl;
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2 std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0]
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2 << ", p2 = " << distanceResult.nearest_points[1]
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2 << ", distance = " << distanceResult.min_distance << std::endl;
208
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2 BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4);
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2 const Vec3s p1Moved = tf3.transform(p1Ref);
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2 const Vec3s p2Moved = tf3.transform(p2Ref);
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2 BOOST_CHECK_CLOSE(p1[0], p1Moved[0], 1e-4);
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2 BOOST_CHECK_CLOSE(p1[1], p1Moved[1], 1e-4);
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2 BOOST_CHECK_CLOSE(p1[2], p1Moved[2], 1e-4);
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2 BOOST_CHECK_CLOSE(p2[0], p2Moved[0], 1e-4);
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2 BOOST_CHECK_CLOSE(p2[1], p2Moved[1], 1e-4);
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2 BOOST_CHECK_CLOSE(p2[2], p2Moved[2], 1e-4);
219 2 }
220
221
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4 BOOST_AUTO_TEST_CASE(distance_box_box_4) {
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2 coal::Box s1(1, 1, 1);
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2 coal::Box s2(1, 1, 1);
224
225 // Enable computation of nearest points
226
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2 DistanceRequest distanceRequest(true, true, 0, 0);
227
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2 DistanceResult distanceResult;
228 Scalar distance;
229
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2 Transform3s tf1(Vec3s(2, 0, 0));
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2 Transform3s tf2;
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2 coal::distance(&s1, tf1, &s2, tf2, distanceRequest, distanceResult);
233
234 2 distance = 1.;
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2 BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4);
236
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2 tf1.setTranslation(Vec3s(Scalar(1.01), 0, 0));
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2 distanceResult.clear();
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2 coal::distance(&s1, tf1, &s2, tf2, distanceRequest, distanceResult);
240
241 2 distance = Scalar(0.01);
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2 BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 2e-3);
243
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2 tf1.setTranslation(Vec3s(Scalar(0.99), 0, 0));
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2 distanceResult.clear();
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2 coal::distance(&s1, tf1, &s2, tf2, distanceRequest, distanceResult);
247
248 2 distance = Scalar(-0.01);
249
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2 BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 2e-3);
250
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2 tf1.setTranslation(Vec3s(0, 0, 0));
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2 distanceResult.clear();
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2 coal::distance(&s1, tf1, &s2, tf2, distanceRequest, distanceResult);
254
255 2 distance = -1;
256
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2 BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 2e-3);
257 2 }
258