| Directory: | ./ |
|---|---|
| File: | tests/convex-shape.cc |
| Date: | 2025-05-05 12:19:30 |
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| 1 | // Copyright (c) 2015, Joseph Mirabel | ||
| 2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
| 3 | // | ||
| 4 | |||
| 5 | // Redistribution and use in source and binary forms, with or without | ||
| 6 | // modification, are permitted provided that the following conditions are | ||
| 7 | // met: | ||
| 8 | // | ||
| 9 | // 1. Redistributions of source code must retain the above copyright | ||
| 10 | // notice, this list of conditions and the following disclaimer. | ||
| 11 | // | ||
| 12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 13 | // notice, this list of conditions and the following disclaimer in the | ||
| 14 | // documentation and/or other materials provided with the distribution. | ||
| 15 | // | ||
| 16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 27 | // DAMAGE. | ||
| 28 | |||
| 29 | #define BOOST_TEST_MODULE ConvexShape | ||
| 30 | |||
| 31 | #include "hpp/constraints/convex-shape.hh" | ||
| 32 | |||
| 33 | #include <boost/test/included/unit_test.hpp> | ||
| 34 | #include <pinocchio/fwd.hpp> | ||
| 35 | |||
| 36 | using hpp::constraints::ConvexShape; | ||
| 37 | using hpp::constraints::ConvexShapeData; | ||
| 38 | using hpp::constraints::value_type; | ||
| 39 | using hpp::constraints::vector3_t; | ||
| 40 | |||
| 41 |
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4 | BOOST_AUTO_TEST_CASE(triangle) { |
| 42 |
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2 | vector3_t p0(0, 0, 0), p1(2, 0, 0), p2(0, 2, 0); |
| 43 | 2 | std::vector<vector3_t> pts; | |
| 44 |
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2 | pts.push_back(p0); |
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2 | pts.push_back(p1); |
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2 | pts.push_back(p2); |
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2 | ConvexShape t(pts); |
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2 | ConvexShapeData d; |
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2 | d.updateToCurrentTransform(t); |
| 50 | |||
| 51 | 2 | std::vector<vector3_t> ptsIn, ptsOut; | |
| 52 |
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2 | ptsIn.push_back(p0); |
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2 | ptsIn.push_back(p1); |
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2 | ptsIn.push_back(p2); |
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2 | ptsIn.push_back(vector3_t(1, 1, 0)); |
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2 | ptsIn.push_back(vector3_t(0.5, 0.5, 0)); |
| 57 | |||
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2 | ptsOut.push_back(vector3_t(-1, -1, 0)); |
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2 | ptsOut.push_back(vector3_t(1, -1, 0)); |
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2 | ptsOut.push_back(vector3_t(3, -0.2, 0)); |
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2 | ptsOut.push_back(vector3_t(2, 2, 0)); |
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2 | ptsOut.push_back(vector3_t(-0.2, 3, 0)); |
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2 | ptsOut.push_back(vector3_t(-1, 1, 0)); |
| 64 | |||
| 65 |
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12 | for (size_t i = 0; i < ptsIn.size(); i++) { |
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10 | BOOST_CHECK_EQUAL(t.isInsideLocal(ptsIn[i]), d.isInside(t, ptsIn[i])); |
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10 | BOOST_CHECK_EQUAL(t.distanceLocal(ptsIn[i]), d.distance(t, ptsIn[i])); |
| 68 | |||
| 69 |
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10 | BOOST_CHECK_MESSAGE( |
| 70 | d.isInside(t, ptsIn[i]), | ||
| 71 | "Check point inside failed for ptsIn[" << i << "]=" << ptsIn[i]); | ||
| 72 |
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10 | BOOST_CHECK_MESSAGE(d.distance(t, ptsIn[i]) <= 0, |
| 73 | "Wrong point to triangle distance for ptsIn[" | ||
| 74 | << i << "]=" << ptsIn[i] | ||
| 75 | << ". Distance returned is " | ||
| 76 | << d.distance(t, ptsIn[i])); | ||
| 77 | } | ||
| 78 |
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14 | for (size_t i = 0; i < ptsOut.size(); i++) { |
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12 | BOOST_CHECK_MESSAGE( |
| 80 | !d.isInside(t, ptsOut[i]), | ||
| 81 | "Check point outside failed for ptsOut[" << i << "]=" << ptsOut[i]); | ||
| 82 |
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12 | BOOST_CHECK_MESSAGE(d.distance(t, ptsOut[i]) >= 0, |
| 83 | "Wrong point to triangle distance for ptsOut[" | ||
| 84 | << i << "]=" << ptsOut[i] | ||
| 85 | << ". Distance returned is " | ||
| 86 | << d.distance(t, ptsOut[i])); | ||
| 87 | } | ||
| 88 | 2 | } | |
| 89 | |||
| 90 | 4 | void checkDistance(const ConvexShape& t, const vector3_t& p, | |
| 91 | const value_type& expected) { | ||
| 92 |
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4 | ConvexShapeData d; |
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4 | d.updateToCurrentTransform(t); |
| 94 | |||
| 95 |
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4 | BOOST_CHECK_MESSAGE(std::abs(d.distance(t, p) - expected) < 1e-5, |
| 96 | "Point " << p | ||
| 97 | << ".\nDistance computed: " << d.distance(t, p) | ||
| 98 | << "\nDistance expected: " << expected); | ||
| 99 | 4 | } | |
| 100 | |||
| 101 |
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4 | BOOST_AUTO_TEST_CASE(distance) { |
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2 | vector3_t p0(0, 0, 0), p1(2, 0, 0), p2(2, 2, 0), p3(0, 2, 0); |
| 103 | 2 | std::vector<vector3_t> pts; | |
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2 | pts.push_back(p0); |
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2 | pts.push_back(p1); |
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2 | pts.push_back(p2); |
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2 | pts.push_back(p3); |
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2 | ConvexShape t(pts); |
| 109 | |||
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2 | checkDistance(t, vector3_t(0, 3, 0), 1); |
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2 | checkDistance(t, vector3_t(3, 0, 0), 1); |
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2 | checkDistance(t, vector3_t(1, 1, 0), -1); |
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2 | checkDistance(t, vector3_t(0, 1, 0), 0); |
| 114 | 2 | } | |
| 115 |