GCC Code Coverage Report

Directory:	./
File:	test/capsule_box_1.cpp
Date:	2025-04-13 14:25:19

	Exec	Total	Coverage
Lines:	46	46	100.0%
Branches:	196	392	50.0%

Line	Branch	Exec	Source
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	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_capsule_box) {
54			using coal::CollisionGeometryPtr_t;
55			// Capsule of radius 2 and of height 4
56	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	CollisionGeometryPtr_t capsuleGeometry(new coal::Capsule(2., 4.));
57			// Box of size 1 by 2 by 4
58	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	CollisionGeometryPtr_t boxGeometry(new coal::Box(1., 2., 4.));
59
60			// Enable computation of nearest points
61	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::DistanceRequest distanceRequest(true, 0, 0);
62	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	coal::DistanceResult distanceResult;
63
64	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	coal::Transform3s tf1(coal::Vec3s(3., 0, 0));
65	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::Transform3s tf2;
66	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::CollisionObject capsule(capsuleGeometry, tf1);
67	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::CollisionObject box(boxGeometry, tf2);
68
69			// test distance
70	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::distance(&capsule, &box, distanceRequest, distanceResult);
71			// Nearest point on capsule
72	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	coal::Vec3s o1(distanceResult.nearest_points[0]);
73			// Nearest point on box
74	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	coal::Vec3s o2(distanceResult.nearest_points[1]);
75	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, 0.5, 1e-1);
76	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(o1[0], 1.0, 1e-1);
77	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	CHECK_CLOSE_TO_0(o1[1], 1e-1);
78	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(o2[0], 0.5, 1e-1);
79	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	CHECK_CLOSE_TO_0(o2[1], 1e-1);
80
81			// Move capsule above box
82	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	tf1 = coal::Transform3s(coal::Vec3s(0., 0., 8.));
83	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	capsule.setTransform(tf1);
84
85			// test distance
86	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distanceResult.clear();
87	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::distance(&capsule, &box, distanceRequest, distanceResult);
88	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	o1 = distanceResult.nearest_points[0];
89	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	o2 = distanceResult.nearest_points[1];
90
91	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, 2.0, 1e-1);
92	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	CHECK_CLOSE_TO_0(o1[0], 1e-1);
93	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	CHECK_CLOSE_TO_0(o1[1], 1e-1);
94	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(o1[2], 4.0, 1e-1);
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	CHECK_CLOSE_TO_0(o2[0], 1e-1);
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	CHECK_CLOSE_TO_0(o2[1], 1e-1);
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(o2[2], 2.0, 1e-1);
99
100			// Rotate capsule around y axis by pi/2 and move it behind box
101	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1.setTranslation(coal::Vec3s(-10., 0., 0.));
102	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setQuatRotation(
103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::makeQuat(sqrt(Scalar(2)) / 2, 0, sqrt(Scalar(2)) / 2, 0));
104	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	capsule.setTransform(tf1);
105
106			// test distance
107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distanceResult.clear();
108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::distance(&capsule, &box, distanceRequest, distanceResult);
109	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	o1 = distanceResult.nearest_points[0];
110	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	o2 = distanceResult.nearest_points[1];
111
112	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, 5.5, 1e-1);
113	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(o1[0], -6, 1e-2);
114	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	CHECK_CLOSE_TO_0(o1[1], 1e-1);
115	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	CHECK_CLOSE_TO_0(o1[2], 1e-1);
116	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(o2[0], -0.5, 1e-2);
117	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	CHECK_CLOSE_TO_0(o2[1], 1e-1);
118	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	CHECK_CLOSE_TO_0(o2[2], 1e-1);
119		2	}
120