GCC Code Coverage Report


Directory: ./
File: test/capsule_box_1.cpp
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 46 46 100.0%
Branches: 196 392 50.0%

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1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2014-2016, CNRS-LAAS and AIST
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 CNRS-LAAS and AIST 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 */
36
37 #define BOOST_TEST_MODULE COAL_GEOMETRIC_SHAPES
38 #include <boost/test/included/unit_test.hpp>
39
40 #define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE((x + 1.0), (1.0), (eps))
41
42 #include <cmath>
43 #include "coal/distance.h"
44 #include "coal/math/transform.h"
45 #include "coal/collision.h"
46 #include "coal/collision_object.h"
47 #include "coal/shape/geometric_shapes.h"
48
49 #include "utility.h"
50
51 using coal::Scalar;
52
53
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4 BOOST_AUTO_TEST_CASE(distance_capsule_box) {
54 using coal::CollisionGeometryPtr_t;
55 // Capsule of radius 2 and of height 4
56
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2 CollisionGeometryPtr_t capsuleGeometry(new coal::Capsule(2., 4.));
57 // Box of size 1 by 2 by 4
58
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2 CollisionGeometryPtr_t boxGeometry(new coal::Box(1., 2., 4.));
59
60 // Enable computation of nearest points
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2 coal::DistanceRequest distanceRequest(true, 0, 0);
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2 coal::DistanceResult distanceResult;
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2 coal::Transform3s tf1(coal::Vec3s(3., 0, 0));
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2 coal::Transform3s tf2;
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2 coal::CollisionObject capsule(capsuleGeometry, tf1);
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2 coal::CollisionObject box(boxGeometry, tf2);
68
69 // test distance
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2 coal::distance(&capsule, &box, distanceRequest, distanceResult);
71 // Nearest point on capsule
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2 coal::Vec3s o1(distanceResult.nearest_points[0]);
73 // Nearest point on box
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2 coal::Vec3s o2(distanceResult.nearest_points[1]);
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2 BOOST_CHECK_CLOSE(distanceResult.min_distance, 0.5, 1e-1);
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2 BOOST_CHECK_CLOSE(o1[0], 1.0, 1e-1);
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2 CHECK_CLOSE_TO_0(o1[1], 1e-1);
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2 BOOST_CHECK_CLOSE(o2[0], 0.5, 1e-1);
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2 CHECK_CLOSE_TO_0(o2[1], 1e-1);
80
81 // Move capsule above box
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2 tf1 = coal::Transform3s(coal::Vec3s(0., 0., 8.));
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2 capsule.setTransform(tf1);
84
85 // test distance
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2 distanceResult.clear();
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2 coal::distance(&capsule, &box, distanceRequest, distanceResult);
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2 o1 = distanceResult.nearest_points[0];
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2 o2 = distanceResult.nearest_points[1];
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2 BOOST_CHECK_CLOSE(distanceResult.min_distance, 2.0, 1e-1);
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2 CHECK_CLOSE_TO_0(o1[0], 1e-1);
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2 CHECK_CLOSE_TO_0(o1[1], 1e-1);
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2 BOOST_CHECK_CLOSE(o1[2], 4.0, 1e-1);
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2 CHECK_CLOSE_TO_0(o2[0], 1e-1);
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2 CHECK_CLOSE_TO_0(o2[1], 1e-1);
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2 BOOST_CHECK_CLOSE(o2[2], 2.0, 1e-1);
99
100 // Rotate capsule around y axis by pi/2 and move it behind box
101
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2 tf1.setTranslation(coal::Vec3s(-10., 0., 0.));
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2 tf1.setQuatRotation(
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2 coal::makeQuat(sqrt(Scalar(2)) / 2, 0, sqrt(Scalar(2)) / 2, 0));
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2 capsule.setTransform(tf1);
105
106 // test distance
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2 distanceResult.clear();
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2 coal::distance(&capsule, &box, distanceRequest, distanceResult);
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2 o1 = distanceResult.nearest_points[0];
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2 o2 = distanceResult.nearest_points[1];
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2 BOOST_CHECK_CLOSE(distanceResult.min_distance, 5.5, 1e-1);
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2 BOOST_CHECK_CLOSE(o1[0], -6, 1e-2);
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2 CHECK_CLOSE_TO_0(o1[1], 1e-1);
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2 CHECK_CLOSE_TO_0(o1[2], 1e-1);
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2 BOOST_CHECK_CLOSE(o2[0], -0.5, 1e-2);
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2 CHECK_CLOSE_TO_0(o2[1], 1e-1);
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2 CHECK_CLOSE_TO_0(o2[2], 1e-1);
119 2 }
120