Directory: | ./ |
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File: | test/box_box_distance.cpp |
Date: | 2025-04-01 09:23:31 |
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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)); |
66 | |||
67 |
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2 | Transform3s tf1; |
68 |
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2 | Transform3s tf2(Vec3s(25, 20, 5)); |
69 | |||
70 |
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2 | CollisionObject o1(s1, tf1); |
71 |
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2 | CollisionObject o2(s2, tf2); |
72 | |||
73 | // Enable computation of nearest points | ||
74 |
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2 | DistanceRequest distanceRequest(true, true, 0, 0); |
75 |
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2 | DistanceResult distanceResult; |
76 | |||
77 |
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2 | coal::distance(&o1, &o2, distanceRequest, distanceResult); |
78 | |||
79 |
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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 |
81 |
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2 | << " R1 = " << tf1.getRotation() << std::endl |
82 |
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2 | << " T2 = " << tf2.getTranslation() << std::endl |
83 |
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2 | << " R2 = " << tf2.getRotation() << std::endl; |
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2 | std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0] |
85 |
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2 | << ", p2 = " << distanceResult.nearest_points[1] |
86 |
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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]; | |
93 |
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2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, |
94 | sqrt(dx * dx + dy * dy + dz * dz), 1e-4); | ||
95 | |||
96 |
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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); |
100 |
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2 | BOOST_CHECK_CLOSE(p2[1], 19, 1e-6); |
101 |
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2 | BOOST_CHECK_CLOSE(p2[2], 4, 1e-6); |
102 | 2 | } | |
103 | |||
104 |
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4 | BOOST_AUTO_TEST_CASE(distance_box_box_2) { |
105 |
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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); | ||
108 |
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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)), | |
112 |
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2 | sin(Scalar(pi / 8)) / sqrt(Scalar(3))), |
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4 | Vec3s(0, 0, 10)); |
114 | |||
115 |
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2 | CollisionObject o1(s1, tf1); |
116 |
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2 | CollisionObject o2(s2, tf2); |
117 | |||
118 | // Enable computation of nearest points | ||
119 |
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2 | DistanceRequest distanceRequest(true, true, 0, 0); |
120 |
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2 | DistanceResult distanceResult; |
121 | |||
122 |
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2 | coal::distance(&o1, &o2, distanceRequest, distanceResult); |
123 | |||
124 |
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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] |
130 |
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2 | << ", p2 = " << distanceResult.nearest_points[1] |
131 |
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2 | << ", distance = " << distanceResult.min_distance << std::endl; |
132 | |||
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); | |
136 |
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2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4); |
137 | |||
138 |
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2 | BOOST_CHECK_CLOSE(p1[0], 0.60947571, 1e-4); |
139 |
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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); |
142 |
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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 | } | |
145 | |||
146 |
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4 | BOOST_AUTO_TEST_CASE(distance_box_box_3) { |
147 |
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2 | CollisionGeometryPtr_t s1(new coal::Box(1, 1, 1)); |
148 |
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2 | CollisionGeometryPtr_t s2(new coal::Box(1, 1, 1)); |
149 | static Scalar pi = Scalar(M_PI); | ||
150 |
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2 | Transform3s tf1(coal::makeQuat(cos(pi / 8), 0, 0, sin(pi / 8)), |
151 |
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4 | Vec3s(-2, 1, .5)); |
152 |
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2 | Transform3s tf2(coal::makeQuat(cos(pi / 8), 0, sin(pi / 8), 0), |
153 |
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4 | Vec3s(2, .5, .5)); |
154 | |||
155 |
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2 | CollisionObject o1(s1, tf1); |
156 |
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2 | CollisionObject o2(s2, tf2); |
157 | |||
158 | // Enable computation of nearest points | ||
159 |
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2 | DistanceRequest distanceRequest(true, 0, 0); |
160 |
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2 | DistanceResult distanceResult; |
161 | |||
162 |
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2 | coal::distance(&o1, &o2, distanceRequest, distanceResult); |
163 | |||
164 |
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2 | std::cerr << "Applied transformations on two boxes" << std::endl; |
165 |
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2 | std::cerr << " T1 = " << tf1.getTranslation() << std::endl |
166 |
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2 | << " R1 = " << tf1.getRotation() << std::endl |
167 |
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2 | << " T2 = " << tf2.getTranslation() << std::endl |
168 |
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2 | << " R2 = " << tf2.getRotation() << std::endl; |
169 |
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2 | std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0] |
170 |
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2 | << ", p2 = " << distanceResult.nearest_points[1] |
171 |
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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); |
177 | |||
178 |
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2 | const Vec3s p1Ref(sqrt(Scalar(2)) / 2 - 2, 1, .5); |
179 |
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2 | const Vec3s p2Ref(2 - sqrt(Scalar(2)) / 2, 1, .5); |
180 |
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2 | BOOST_CHECK_CLOSE(p1[0], p1Ref[0], 1e-4); |
181 |
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2 | BOOST_CHECK_CLOSE(p1[1], p1Ref[1], 1e-4); |
182 |
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2 | BOOST_CHECK_CLOSE(p1[2], p1Ref[2], 1e-4); |
183 |
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2 | BOOST_CHECK_CLOSE(p2[0], p2Ref[0], 1e-4); |
184 |
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2 | BOOST_CHECK_CLOSE(p2[1], p2Ref[1], 1e-4); |
185 |
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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)); |
192 |
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2 | tf1 = tf3 * tf1; |
193 |
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2 | tf2 = tf3 * tf2; |
194 |
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2 | o1 = CollisionObject(s1, tf1); |
195 |
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2 | o2 = CollisionObject(s2, tf2); |
196 | |||
197 |
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2 | distanceResult.clear(); |
198 |
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2 | coal::distance(&o1, &o2, distanceRequest, distanceResult); |
199 | |||
200 |
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2 | std::cerr << "Applied transformations on two boxes" << std::endl; |
201 |
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2 | std::cerr << " T1 = " << tf1.getTranslation() << std::endl |
202 |
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2 | << " R1 = " << tf1.getRotation() << std::endl |
203 |
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2 | << " T2 = " << tf2.getTranslation() << std::endl |
204 |
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2 | << " R2 = " << tf2.getRotation() << std::endl; |
205 |
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2 | std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0] |
206 |
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2 | << ", p2 = " << distanceResult.nearest_points[1] |
207 |
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2 | << ", distance = " << distanceResult.min_distance << std::endl; |
208 | |||
209 |
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2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4); |
210 | |||
211 |
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2 | const Vec3s p1Moved = tf3.transform(p1Ref); |
212 |
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2 | const Vec3s p2Moved = tf3.transform(p2Ref); |
213 |
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2 | BOOST_CHECK_CLOSE(p1[0], p1Moved[0], 1e-4); |
214 |
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2 | BOOST_CHECK_CLOSE(p1[1], p1Moved[1], 1e-4); |
215 |
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2 | BOOST_CHECK_CLOSE(p1[2], p1Moved[2], 1e-4); |
216 |
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2 | BOOST_CHECK_CLOSE(p2[0], p2Moved[0], 1e-4); |
217 |
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2 | BOOST_CHECK_CLOSE(p2[1], p2Moved[1], 1e-4); |
218 |
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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) { |
222 |
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2 | coal::Box s1(1, 1, 1); |
223 |
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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 | |||
230 |
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2 | Transform3s tf1(Vec3s(2, 0, 0)); |
231 |
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2 | Transform3s tf2; |
232 |
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2 | coal::distance(&s1, tf1, &s2, tf2, distanceRequest, distanceResult); |
233 | |||
234 | 2 | distance = 1.; | |
235 |
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2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4); |
236 | |||
237 |
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2 | tf1.setTranslation(Vec3s(Scalar(1.01), 0, 0)); |
238 |
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2 | distanceResult.clear(); |
239 |
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2 | coal::distance(&s1, tf1, &s2, tf2, distanceRequest, distanceResult); |
240 | |||
241 | 2 | distance = Scalar(0.01); | |
242 |
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2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 2e-3); |
243 | |||
244 |
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2 | tf1.setTranslation(Vec3s(Scalar(0.99), 0, 0)); |
245 |
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2 | distanceResult.clear(); |
246 |
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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 | |||
251 |
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2 | tf1.setTranslation(Vec3s(0, 0, 0)); |
252 |
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2 | distanceResult.clear(); |
253 |
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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 |