GCC Code Coverage Report

Directory: ./
File: tests/test-oriented-triangles2.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 - triangles2
26 #include <boost/test/included/unit_test.hpp>
27
28 using namespace hpp;
29 BOOST_AUTO_TEST_SUITE(test_affordance)
30
31
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 4 BOOST_AUTO_TEST_CASE(oriented_triangles2) {
32 hpp::affordance::SupportOperationPtr_t support(
33
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 2 new hpp::affordance::SupportOperation());
34 hpp::affordance::LeanOperationPtr_t lean(
35
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 2 new hpp::affordance::LeanOperation(0.1));
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37 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);
40
41 2 std::vector<coal::Vec3f> vertices;
42 2 std::vector<coal::Triangle> triangles;
43
44 typedef coal::BVHModel<coal::OBBRSS> Model;
45
46
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 2 coal::Vec3f vert1(-1, 0, 0);
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 2 coal::Vec3f vert2(1, 0, 1);
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 2 coal::Vec3f vert3(1, 0, -1);
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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);
52
53 2 int size_ = 7;
54 2 int affFound = 0;
55 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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 16 for (int i = 0; i < size_; ++i) {
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 14 coal::shared_ptr<Model> model(new Model());
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 14 coal::Triangle tri(0, 1, 2);
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 14 triangles.push_back(tri);
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 14 R = Eigen::AngleAxisd(3.1416 * double(i) / 180.0, axis);
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 14 coal::Transform3s pose(R, T);
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 14 model->beginModel();
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 14 model->addSubModel(vertices, triangles);
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 14 model->endModel();
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 14 coal::CollisionObject* obj(new coal::CollisionObject(model, pose));
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75 hpp::affordance::SemanticsDataPtr_t h =
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 14 hpp::affordance::affordanceAnalysis(obj, operations);
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 14 if (h->affordances_[1].size() == 1 && h->affordances_[0].size() == 0) {
79 12 affFound += 1;
80 } else {
81 2 affNotFound += 1;
82 }
83 14 }
84
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 2 BOOST_CHECK_MESSAGE(affFound == 6 && affNotFound == 1,
85 "Strictly six lean affordances should have been found "
86 "and one rejected. Now "
87 << affFound << "were found and " << affNotFound
88 << " rejected.");
89 2 }
90 BOOST_AUTO_TEST_SUITE_END()
91