| Line | Branch | Exec | Source |
|---|---|---|---|
| 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 |
33/66✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✓ Branch 27 taken 1 times.
✗ Branch 28 not taken.
✓ Branch 30 taken 1 times.
✗ Branch 31 not taken.
✓ Branch 33 taken 1 times.
✗ Branch 34 not taken.
✓ Branch 36 taken 1 times.
✗ Branch 37 not taken.
✓ Branch 41 taken 1 times.
✗ Branch 42 not taken.
✓ Branch 45 taken 1 times.
✗ Branch 46 not taken.
✓ Branch 48 taken 1 times.
✗ Branch 49 not taken.
✓ Branch 52 taken 1 times.
✗ Branch 53 not taken.
✓ Branch 55 taken 1 times.
✗ Branch 56 not taken.
✓ Branch 58 taken 1 times.
✗ Branch 59 not taken.
✓ Branch 61 taken 1 times.
✗ Branch 62 not taken.
✓ Branch 66 taken 1 times.
✗ Branch 67 not taken.
✓ Branch 70 taken 1 times.
✗ Branch 71 not taken.
✓ Branch 73 taken 1 times.
✗ Branch 74 not taken.
✓ Branch 77 taken 1 times.
✗ Branch 78 not taken.
✓ Branch 80 taken 1 times.
✗ Branch 81 not taken.
✓ Branch 83 taken 1 times.
✗ Branch 84 not taken.
✓ Branch 86 taken 1 times.
✗ Branch 87 not taken.
✓ Branch 91 taken 1 times.
✗ Branch 92 not taken.
✓ Branch 95 taken 1 times.
✗ Branch 96 not taken.
✓ Branch 98 taken 1 times.
✗ Branch 99 not taken.
✓ Branch 102 taken 1 times.
✗ Branch 103 not taken.
✓ Branch 105 taken 1 times.
✗ Branch 106 not taken.
✓ Branch 108 taken 1 times.
✗ Branch 109 not taken.
✓ Branch 111 taken 1 times.
✗ Branch 112 not taken.
✓ Branch 116 taken 1 times.
✗ Branch 117 not taken.
|
4 | BOOST_AUTO_TEST_CASE(distance_box_box_1) { |
| 64 |
3/8✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
✗ Branch 9 not taken.
✗ Branch 10 not taken.
|
2 | CollisionGeometryPtr_t s1(new coal::Box(6, 10, 2)); |
| 65 |
3/8✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
✗ Branch 9 not taken.
✗ Branch 10 not taken.
|
2 | CollisionGeometryPtr_t s2(new coal::Box(2, 2, 2)); |
| 66 | |||
| 67 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | Transform3s tf1; |
| 68 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | Transform3s tf2(Vec3s(25, 20, 5)); |
| 69 | |||
| 70 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | CollisionObject o1(s1, tf1); |
| 71 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | CollisionObject o2(s2, tf2); |
| 72 | |||
| 73 | // Enable computation of nearest points | ||
| 74 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | DistanceRequest distanceRequest(true, true, 0, 0); |
| 75 |
1/2✓ Branch 2 taken 1 times.
✗ Branch 3 not taken.
|
2 | DistanceResult distanceResult; |
| 76 | |||
| 77 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | coal::distance(&o1, &o2, distanceRequest, distanceResult); |
| 78 | |||
| 79 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | std::cerr << "Applied transformations on two boxes" << std::endl; |
| 80 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | std::cerr << " T1 = " << tf1.getTranslation() << std::endl |
| 81 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | << " R1 = " << tf1.getRotation() << std::endl |
| 82 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | << " T2 = " << tf2.getTranslation() << std::endl |
| 83 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | << " R2 = " << tf2.getRotation() << std::endl; |
| 84 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
|
2 | std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0] |
| 85 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
|
2 | << ", p2 = " << distanceResult.nearest_points[1] |
| 86 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
|
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 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, |
| 94 | sqrt(dx * dx + dy * dy + dz * dz), 1e-4); | ||
| 95 | |||
| 96 |
7/14✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✗ Branch 23 not taken.
✓ Branch 24 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p1[0], 3, 1e-6); |
| 97 |
7/14✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✗ Branch 23 not taken.
✓ Branch 24 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p1[1], 5, 1e-6); |
| 98 |
7/14✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✗ Branch 23 not taken.
✓ Branch 24 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p1[2], 1, 1e-6); |
| 99 |
7/14✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✗ Branch 23 not taken.
✓ Branch 24 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p2[0], 24, 1e-6); |
| 100 |
7/14✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✗ Branch 23 not taken.
✓ Branch 24 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p2[1], 19, 1e-6); |
| 101 |
7/14✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✗ Branch 23 not taken.
✓ Branch 24 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p2[2], 4, 1e-6); |
| 102 | 2 | } | |
| 103 | |||
| 104 |
33/66✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✓ Branch 27 taken 1 times.
✗ Branch 28 not taken.
✓ Branch 30 taken 1 times.
✗ Branch 31 not taken.
✓ Branch 33 taken 1 times.
✗ Branch 34 not taken.
✓ Branch 36 taken 1 times.
✗ Branch 37 not taken.
✓ Branch 41 taken 1 times.
✗ Branch 42 not taken.
✓ Branch 45 taken 1 times.
✗ Branch 46 not taken.
✓ Branch 48 taken 1 times.
✗ Branch 49 not taken.
✓ Branch 52 taken 1 times.
✗ Branch 53 not taken.
✓ Branch 55 taken 1 times.
✗ Branch 56 not taken.
✓ Branch 58 taken 1 times.
✗ Branch 59 not taken.
✓ Branch 61 taken 1 times.
✗ Branch 62 not taken.
✓ Branch 66 taken 1 times.
✗ Branch 67 not taken.
✓ Branch 70 taken 1 times.
✗ Branch 71 not taken.
✓ Branch 73 taken 1 times.
✗ Branch 74 not taken.
✓ Branch 77 taken 1 times.
✗ Branch 78 not taken.
✓ Branch 80 taken 1 times.
✗ Branch 81 not taken.
✓ Branch 83 taken 1 times.
✗ Branch 84 not taken.
✓ Branch 86 taken 1 times.
✗ Branch 87 not taken.
✓ Branch 91 taken 1 times.
✗ Branch 92 not taken.
✓ Branch 95 taken 1 times.
✗ Branch 96 not taken.
✓ Branch 98 taken 1 times.
✗ Branch 99 not taken.
✓ Branch 102 taken 1 times.
✗ Branch 103 not taken.
✓ Branch 105 taken 1 times.
✗ Branch 106 not taken.
✓ Branch 108 taken 1 times.
✗ Branch 109 not taken.
✓ Branch 111 taken 1 times.
✗ Branch 112 not taken.
✓ Branch 116 taken 1 times.
✗ Branch 117 not taken.
|
4 | BOOST_AUTO_TEST_CASE(distance_box_box_2) { |
| 105 |
3/8✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
✗ Branch 9 not taken.
✗ Branch 10 not taken.
|
2 | CollisionGeometryPtr_t s1(new coal::Box(6, 10, 2)); |
| 106 |
3/8✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
✗ Branch 9 not taken.
✗ Branch 10 not taken.
|
2 | CollisionGeometryPtr_t s2(new coal::Box(2, 2, 2)); |
| 107 | static Scalar pi = Scalar(M_PI); | ||
| 108 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
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 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | sin(Scalar(pi / 8)) / sqrt(Scalar(3))), |
| 113 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
4 | Vec3s(0, 0, 10)); |
| 114 | |||
| 115 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | CollisionObject o1(s1, tf1); |
| 116 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | CollisionObject o2(s2, tf2); |
| 117 | |||
| 118 | // Enable computation of nearest points | ||
| 119 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | DistanceRequest distanceRequest(true, true, 0, 0); |
| 120 |
1/2✓ Branch 2 taken 1 times.
✗ Branch 3 not taken.
|
2 | DistanceResult distanceResult; |
| 121 | |||
| 122 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | coal::distance(&o1, &o2, distanceRequest, distanceResult); |
| 123 | |||
| 124 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | std::cerr << "Applied transformations on two boxes" << std::endl; |
| 125 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | std::cerr << " T1 = " << tf1.getTranslation() << std::endl |
| 126 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | << " R1 = " << tf1.getRotation() << std::endl |
| 127 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | << " T2 = " << tf2.getTranslation() << std::endl |
| 128 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | << " R2 = " << tf2.getRotation() << std::endl; |
| 129 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
|
2 | std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0] |
| 130 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
|
2 | << ", p2 = " << distanceResult.nearest_points[1] |
| 131 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
|
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 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4); |
| 137 | |||
| 138 |
7/14✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✗ Branch 23 not taken.
✓ Branch 24 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p1[0], 0.60947571, 1e-4); |
| 139 |
7/14✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✗ Branch 23 not taken.
✓ Branch 24 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p1[1], 0.01175873, 1e-4); |
| 140 |
7/14✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✗ Branch 23 not taken.
✓ Branch 24 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p1[2], 1, 1e-6); |
| 141 |
7/14✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✗ Branch 23 not taken.
✓ Branch 24 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p2[0], 0.60947571, 1e-4); |
| 142 |
7/14✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✗ Branch 23 not taken.
✓ Branch 24 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p2[1], 0.01175873, 1e-4); |
| 143 |
7/14✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✗ Branch 23 not taken.
✓ Branch 24 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p2[2], -1.62123444 + 10, 1e-4); |
| 144 | 2 | } | |
| 145 | |||
| 146 |
33/66✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✓ Branch 27 taken 1 times.
✗ Branch 28 not taken.
✓ Branch 30 taken 1 times.
✗ Branch 31 not taken.
✓ Branch 33 taken 1 times.
✗ Branch 34 not taken.
✓ Branch 36 taken 1 times.
✗ Branch 37 not taken.
✓ Branch 41 taken 1 times.
✗ Branch 42 not taken.
✓ Branch 45 taken 1 times.
✗ Branch 46 not taken.
✓ Branch 48 taken 1 times.
✗ Branch 49 not taken.
✓ Branch 52 taken 1 times.
✗ Branch 53 not taken.
✓ Branch 55 taken 1 times.
✗ Branch 56 not taken.
✓ Branch 58 taken 1 times.
✗ Branch 59 not taken.
✓ Branch 61 taken 1 times.
✗ Branch 62 not taken.
✓ Branch 66 taken 1 times.
✗ Branch 67 not taken.
✓ Branch 70 taken 1 times.
✗ Branch 71 not taken.
✓ Branch 73 taken 1 times.
✗ Branch 74 not taken.
✓ Branch 77 taken 1 times.
✗ Branch 78 not taken.
✓ Branch 80 taken 1 times.
✗ Branch 81 not taken.
✓ Branch 83 taken 1 times.
✗ Branch 84 not taken.
✓ Branch 86 taken 1 times.
✗ Branch 87 not taken.
✓ Branch 91 taken 1 times.
✗ Branch 92 not taken.
✓ Branch 95 taken 1 times.
✗ Branch 96 not taken.
✓ Branch 98 taken 1 times.
✗ Branch 99 not taken.
✓ Branch 102 taken 1 times.
✗ Branch 103 not taken.
✓ Branch 105 taken 1 times.
✗ Branch 106 not taken.
✓ Branch 108 taken 1 times.
✗ Branch 109 not taken.
✓ Branch 111 taken 1 times.
✗ Branch 112 not taken.
✓ Branch 116 taken 1 times.
✗ Branch 117 not taken.
|
4 | BOOST_AUTO_TEST_CASE(distance_box_box_3) { |
| 147 |
3/8✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
✗ Branch 9 not taken.
✗ Branch 10 not taken.
|
2 | CollisionGeometryPtr_t s1(new coal::Box(1, 1, 1)); |
| 148 |
3/8✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
✗ Branch 9 not taken.
✗ Branch 10 not taken.
|
2 | CollisionGeometryPtr_t s2(new coal::Box(1, 1, 1)); |
| 149 | static Scalar pi = Scalar(M_PI); | ||
| 150 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | Transform3s tf1(coal::makeQuat(cos(pi / 8), 0, 0, sin(pi / 8)), |
| 151 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
4 | Vec3s(-2, 1, .5)); |
| 152 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | Transform3s tf2(coal::makeQuat(cos(pi / 8), 0, sin(pi / 8), 0), |
| 153 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
4 | Vec3s(2, .5, .5)); |
| 154 | |||
| 155 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | CollisionObject o1(s1, tf1); |
| 156 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | CollisionObject o2(s2, tf2); |
| 157 | |||
| 158 | // Enable computation of nearest points | ||
| 159 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | DistanceRequest distanceRequest(true, 0, 0); |
| 160 |
1/2✓ Branch 2 taken 1 times.
✗ Branch 3 not taken.
|
2 | DistanceResult distanceResult; |
| 161 | |||
| 162 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | coal::distance(&o1, &o2, distanceRequest, distanceResult); |
| 163 | |||
| 164 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | std::cerr << "Applied transformations on two boxes" << std::endl; |
| 165 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | std::cerr << " T1 = " << tf1.getTranslation() << std::endl |
| 166 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | << " R1 = " << tf1.getRotation() << std::endl |
| 167 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | << " T2 = " << tf2.getTranslation() << std::endl |
| 168 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | << " R2 = " << tf2.getRotation() << std::endl; |
| 169 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
|
2 | std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0] |
| 170 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
|
2 | << ", p2 = " << distanceResult.nearest_points[1] |
| 171 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
|
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 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4); |
| 177 | |||
| 178 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | const Vec3s p1Ref(sqrt(Scalar(2)) / 2 - 2, 1, .5); |
| 179 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | const Vec3s p2Ref(2 - sqrt(Scalar(2)) / 2, 1, .5); |
| 180 |
8/16✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 1 times.
✗ Branch 23 not taken.
✗ Branch 26 not taken.
✓ Branch 27 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p1[0], p1Ref[0], 1e-4); |
| 181 |
8/16✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 1 times.
✗ Branch 23 not taken.
✗ Branch 26 not taken.
✓ Branch 27 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p1[1], p1Ref[1], 1e-4); |
| 182 |
8/16✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 1 times.
✗ Branch 23 not taken.
✗ Branch 26 not taken.
✓ Branch 27 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p1[2], p1Ref[2], 1e-4); |
| 183 |
8/16✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 1 times.
✗ Branch 23 not taken.
✗ Branch 26 not taken.
✓ Branch 27 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p2[0], p2Ref[0], 1e-4); |
| 184 |
8/16✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 1 times.
✗ Branch 23 not taken.
✗ Branch 26 not taken.
✓ Branch 27 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p2[1], p2Ref[1], 1e-4); |
| 185 |
8/16✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 1 times.
✗ Branch 23 not taken.
✗ Branch 26 not taken.
✓ Branch 27 taken 1 times.
|
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 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | coal::makeQuat(Scalar(0.435952844074), Scalar(-0.718287018243), |
| 190 | Scalar(0.310622451066), Scalar(0.444435113443)), | ||
| 191 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
4 | Vec3s(4, 5, 6)); |
| 192 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | tf1 = tf3 * tf1; |
| 193 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | tf2 = tf3 * tf2; |
| 194 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | o1 = CollisionObject(s1, tf1); |
| 195 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | o2 = CollisionObject(s2, tf2); |
| 196 | |||
| 197 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | distanceResult.clear(); |
| 198 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | coal::distance(&o1, &o2, distanceRequest, distanceResult); |
| 199 | |||
| 200 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | std::cerr << "Applied transformations on two boxes" << std::endl; |
| 201 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | std::cerr << " T1 = " << tf1.getTranslation() << std::endl |
| 202 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | << " R1 = " << tf1.getRotation() << std::endl |
| 203 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | << " T2 = " << tf2.getTranslation() << std::endl |
| 204 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
|
2 | << " R2 = " << tf2.getRotation() << std::endl; |
| 205 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
|
2 | std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0] |
| 206 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
|
2 | << ", p2 = " << distanceResult.nearest_points[1] |
| 207 |
3/6✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
|
2 | << ", distance = " << distanceResult.min_distance << std::endl; |
| 208 | |||
| 209 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4); |
| 210 | |||
| 211 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | const Vec3s p1Moved = tf3.transform(p1Ref); |
| 212 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | const Vec3s p2Moved = tf3.transform(p2Ref); |
| 213 |
8/16✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 1 times.
✗ Branch 23 not taken.
✗ Branch 26 not taken.
✓ Branch 27 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p1[0], p1Moved[0], 1e-4); |
| 214 |
8/16✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 1 times.
✗ Branch 23 not taken.
✗ Branch 26 not taken.
✓ Branch 27 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p1[1], p1Moved[1], 1e-4); |
| 215 |
8/16✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 1 times.
✗ Branch 23 not taken.
✗ Branch 26 not taken.
✓ Branch 27 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p1[2], p1Moved[2], 1e-4); |
| 216 |
8/16✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 1 times.
✗ Branch 23 not taken.
✗ Branch 26 not taken.
✓ Branch 27 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p2[0], p2Moved[0], 1e-4); |
| 217 |
8/16✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 1 times.
✗ Branch 23 not taken.
✗ Branch 26 not taken.
✓ Branch 27 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p2[1], p2Moved[1], 1e-4); |
| 218 |
8/16✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 1 times.
✗ Branch 23 not taken.
✗ Branch 26 not taken.
✓ Branch 27 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(p2[2], p2Moved[2], 1e-4); |
| 219 | 2 | } | |
| 220 | |||
| 221 |
33/66✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✓ Branch 27 taken 1 times.
✗ Branch 28 not taken.
✓ Branch 30 taken 1 times.
✗ Branch 31 not taken.
✓ Branch 33 taken 1 times.
✗ Branch 34 not taken.
✓ Branch 36 taken 1 times.
✗ Branch 37 not taken.
✓ Branch 41 taken 1 times.
✗ Branch 42 not taken.
✓ Branch 45 taken 1 times.
✗ Branch 46 not taken.
✓ Branch 48 taken 1 times.
✗ Branch 49 not taken.
✓ Branch 52 taken 1 times.
✗ Branch 53 not taken.
✓ Branch 55 taken 1 times.
✗ Branch 56 not taken.
✓ Branch 58 taken 1 times.
✗ Branch 59 not taken.
✓ Branch 61 taken 1 times.
✗ Branch 62 not taken.
✓ Branch 66 taken 1 times.
✗ Branch 67 not taken.
✓ Branch 70 taken 1 times.
✗ Branch 71 not taken.
✓ Branch 73 taken 1 times.
✗ Branch 74 not taken.
✓ Branch 77 taken 1 times.
✗ Branch 78 not taken.
✓ Branch 80 taken 1 times.
✗ Branch 81 not taken.
✓ Branch 83 taken 1 times.
✗ Branch 84 not taken.
✓ Branch 86 taken 1 times.
✗ Branch 87 not taken.
✓ Branch 91 taken 1 times.
✗ Branch 92 not taken.
✓ Branch 95 taken 1 times.
✗ Branch 96 not taken.
✓ Branch 98 taken 1 times.
✗ Branch 99 not taken.
✓ Branch 102 taken 1 times.
✗ Branch 103 not taken.
✓ Branch 105 taken 1 times.
✗ Branch 106 not taken.
✓ Branch 108 taken 1 times.
✗ Branch 109 not taken.
✓ Branch 111 taken 1 times.
✗ Branch 112 not taken.
✓ Branch 116 taken 1 times.
✗ Branch 117 not taken.
|
4 | BOOST_AUTO_TEST_CASE(distance_box_box_4) { |
| 222 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | coal::Box s1(1, 1, 1); |
| 223 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | coal::Box s2(1, 1, 1); |
| 224 | |||
| 225 | // Enable computation of nearest points | ||
| 226 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | DistanceRequest distanceRequest(true, true, 0, 0); |
| 227 |
1/2✓ Branch 2 taken 1 times.
✗ Branch 3 not taken.
|
2 | DistanceResult distanceResult; |
| 228 | Scalar distance; | ||
| 229 | |||
| 230 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | Transform3s tf1(Vec3s(2, 0, 0)); |
| 231 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | Transform3s tf2; |
| 232 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | coal::distance(&s1, tf1, &s2, tf2, distanceRequest, distanceResult); |
| 233 | |||
| 234 | 2 | distance = 1.; | |
| 235 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4); |
| 236 | |||
| 237 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | tf1.setTranslation(Vec3s(Scalar(1.01), 0, 0)); |
| 238 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | distanceResult.clear(); |
| 239 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | coal::distance(&s1, tf1, &s2, tf2, distanceRequest, distanceResult); |
| 240 | |||
| 241 | 2 | distance = Scalar(0.01); | |
| 242 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 2e-3); |
| 243 | |||
| 244 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | tf1.setTranslation(Vec3s(Scalar(0.99), 0, 0)); |
| 245 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | distanceResult.clear(); |
| 246 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | coal::distance(&s1, tf1, &s2, tf2, distanceRequest, distanceResult); |
| 247 | |||
| 248 | 2 | distance = Scalar(-0.01); | |
| 249 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 2e-3); |
| 250 | |||
| 251 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | tf1.setTranslation(Vec3s(0, 0, 0)); |
| 252 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | distanceResult.clear(); |
| 253 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | coal::distance(&s1, tf1, &s2, tf2, distanceRequest, distanceResult); |
| 254 | |||
| 255 | 2 | distance = -1; | |
| 256 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 2e-3); |
| 257 | 2 | } | |
| 258 |