GCC Code Coverage Report

Directory: ./
File: tests/test-oriented-triangles1.cc
Date: 2025-03-07 12:08:39
Exec Total Coverage
Lines: 37 37 100.0%
Branches: 83 160 51.9%
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1 // Copyright (C) 2016 LAAS-CNRS
2 // Author: Anna Seppala
3 //
4 // This file is part of the hpp-affordance.
5 //
6 // hpp-affordance is free software: you can redistribute it and/or modify
7 // it under the terms of the GNU Lesser General Public License as published by
8 // the Free Software Foundation, either version 3 of the License, or
9 // (at your option) any later version.
10 //
11 // hpp-affordance is distributed in the hope that it will be useful,
12 // but WITHOUT ANY WARRANTY; without even the implied warranty of
13 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 // GNU Lesser General Public License for more details.
15 //
16 // You should have received a copy of the GNU Lesser General Public License
17 // along with hpp-affordance. If not, see <http://www.gnu.org/licenses/>.
18
19 #include <coal/BVH/BVH_model.h>
20 #include <coal/shape/geometric_shape_to_BVH_model.h>
21
22 #include <hpp/affordance/affordance-extraction.hh>
23 #include <hpp/affordance/operations.hh>
24
25 #define BOOST_TEST_MODULE test - oriented - triangles1
26 #include <boost/test/included/unit_test.hpp>
27
28 using namespace hpp;
29
30 BOOST_AUTO_TEST_SUITE(test_affordance)
31
32
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 4 BOOST_AUTO_TEST_CASE(oriented_triangles1) {
33 hpp::affordance::SupportOperationPtr_t support(
34
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 2 new hpp::affordance::SupportOperation());
35 hpp::affordance::LeanOperationPtr_t lean(
36
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 2 new hpp::affordance::LeanOperation(0.1));
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38 2 std::vector<hpp::affordance::OperationBasePtr_t> operations;
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 2 operations.push_back(support);
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 2 operations.push_back(lean);
41
42 2 std::vector<coal::Vec3f> vertices;
43 2 std::vector<coal::Triangle> triangles;
44
45 typedef coal::BVHModel<coal::OBBRSS> Model;
46
47
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 2 coal::Vec3f vert1(0, 0, 0);
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 2 coal::Vec3f vert2(1, 0, 0);
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 2 coal::Vec3f vert3(0, 1, 0);
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 2 vertices.push_back(vert1);
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 2 vertices.push_back(vert2);
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 2 vertices.push_back(vert3);
53
54 2 int size_ = 8;
55 2 int affFound = 0;
56 2 int affNotFound = 0;
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 2 coal::Vec3f T(0, 0, 0);
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 2 coal::Vec3f axis(1, 0, 0);
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 2 coal::Matrix3f R;
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 18 for (int i = 0; i < size_; ++i) {
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 16 coal::shared_ptr<Model> model(new Model());
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 16 coal::Triangle tri(0, 1, 2);
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 16 triangles.push_back(tri);
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 16 R = Eigen::AngleAxisd(3.1416 * double(5 * i) / 180.0, axis);
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 16 coal::Transform3s pose(R, T);
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 16 model->beginModel();
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 16 model->addSubModel(vertices, triangles);
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 16 model->endModel();
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 16 coal::CollisionObject* obj(new coal::CollisionObject(model, pose));
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76 hpp::affordance::SemanticsDataPtr_t h =
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 16 hpp::affordance::affordanceAnalysis(obj, operations);
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 16 if (h->affordances_[0].size() == 1 && h->affordances_[1].size() == 0) {
80 14 affFound += 1;
81 } else {
82 2 affNotFound += 1;
83 }
84 16 }
85
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 2 BOOST_CHECK_MESSAGE(affFound == 7 && affNotFound == 1,
86 "Strictly six support affordances should have been found "
87 "and one rejected. Now "
88 << affFound << "were found and " << affNotFound
89 << " rejected.");
90 2 }
91 BOOST_AUTO_TEST_SUITE_END()
92