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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	test/capsule_box_1.cpp	Lines:	45	45	100.0 %
Date:	2024-02-09 12:57:42	Branches:	196	392	50.0 %


/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2014-2016, CNRS-LAAS and AIST
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of CNRS-LAAS and AIST nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Florent Lamiraux */

#define BOOST_TEST_MODULE FCL_GEOMETRIC_SHAPES
#include <boost/test/included/unit_test.hpp>

#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE((x + 1.0), (1.0), (eps))

#include <cmath>
#include <hpp/fcl/distance.h>
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/collision.h>
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/shape/geometric_shapes.h>

#include "utility.h"

BOOST_AUTO_TEST_CASE(distance_capsule_box) {
  using hpp::fcl::CollisionGeometryPtr_t;
  // Capsule of radius 2 and of height 4
  CollisionGeometryPtr_t capsuleGeometry(new hpp::fcl::Capsule(2., 4.));
  // Box of size 1 by 2 by 4
  CollisionGeometryPtr_t boxGeometry(new hpp::fcl::Box(1., 2., 4.));

  // Enable computation of nearest points
  hpp::fcl::DistanceRequest distanceRequest(true, 0, 0);
  hpp::fcl::DistanceResult distanceResult;

  hpp::fcl::Transform3f tf1(hpp::fcl::Vec3f(3., 0, 0));
  hpp::fcl::Transform3f tf2;
  hpp::fcl::CollisionObject capsule(capsuleGeometry, tf1);
  hpp::fcl::CollisionObject box(boxGeometry, tf2);

  // test distance
  hpp::fcl::distance(&capsule, &box, distanceRequest, distanceResult);
  // Nearest point on capsule
  hpp::fcl::Vec3f o1(distanceResult.nearest_points[0]);
  // Nearest point on box
  hpp::fcl::Vec3f o2(distanceResult.nearest_points[1]);
  BOOST_CHECK_CLOSE(distanceResult.min_distance, 0.5, 1e-1);
  BOOST_CHECK_CLOSE(o1[0], 1.0, 1e-1);
  CHECK_CLOSE_TO_0(o1[1], 1e-1);
  BOOST_CHECK_CLOSE(o2[0], 0.5, 1e-1);
  CHECK_CLOSE_TO_0(o2[1], 1e-1);

  // Move capsule above box
  tf1 = hpp::fcl::Transform3f(hpp::fcl::Vec3f(0., 0., 8.));
  capsule.setTransform(tf1);

  // test distance
  distanceResult.clear();
  hpp::fcl::distance(&capsule, &box, distanceRequest, distanceResult);
  o1 = distanceResult.nearest_points[0];
  o2 = distanceResult.nearest_points[1];

  BOOST_CHECK_CLOSE(distanceResult.min_distance, 2.0, 1e-1);
  CHECK_CLOSE_TO_0(o1[0], 1e-1);
  CHECK_CLOSE_TO_0(o1[1], 1e-1);
  BOOST_CHECK_CLOSE(o1[2], 4.0, 1e-1);

  CHECK_CLOSE_TO_0(o2[0], 1e-1);
  CHECK_CLOSE_TO_0(o2[1], 1e-1);
  BOOST_CHECK_CLOSE(o2[2], 2.0, 1e-1);

  // Rotate capsule around y axis by pi/2 and move it behind box
  tf1.setTranslation(hpp::fcl::Vec3f(-10., 0., 0.));
  tf1.setQuatRotation(hpp::fcl::makeQuat(sqrt(2) / 2, 0, sqrt(2) / 2, 0));
  capsule.setTransform(tf1);

  // test distance
  distanceResult.clear();
  hpp::fcl::distance(&capsule, &box, distanceRequest, distanceResult);
  o1 = distanceResult.nearest_points[0];
  o2 = distanceResult.nearest_points[1];

  BOOST_CHECK_CLOSE(distanceResult.min_distance, 5.5, 1e-1);
  BOOST_CHECK_CLOSE(o1[0], -6, 1e-2);
  CHECK_CLOSE_TO_0(o1[1], 1e-1);
  CHECK_CLOSE_TO_0(o1[2], 1e-1);
  BOOST_CHECK_CLOSE(o2[0], -0.5, 1e-2);
  CHECK_CLOSE_TO_0(o2[1], 1e-1);
  CHECK_CLOSE_TO_0(o2[2], 1e-1);
}


Generated by: GCOVR (Version 4.2)

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 FCL_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 <hpp/fcl/distance.h>
44			#include <hpp/fcl/math/transform.h>
45			#include <hpp/fcl/collision.h>
46			#include <hpp/fcl/collision_object.h>
47			#include <hpp/fcl/shape/geometric_shapes.h>
48
49			#include "utility.h"
50
51	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(distance_capsule_box) {
52			using hpp::fcl::CollisionGeometryPtr_t;
53			// Capsule of radius 2 and of height 4
54	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t capsuleGeometry(new hpp::fcl::Capsule(2., 4.));
55			// Box of size 1 by 2 by 4
56	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t boxGeometry(new hpp::fcl::Box(1., 2., 4.));
57
58			// Enable computation of nearest points
59	✓✗	2	hpp::fcl::DistanceRequest distanceRequest(true, 0, 0);
60	✓✗	2	hpp::fcl::DistanceResult distanceResult;
61
62	✓✗✓✗	2	hpp::fcl::Transform3f tf1(hpp::fcl::Vec3f(3., 0, 0));
63	✓✗	2	hpp::fcl::Transform3f tf2;
64	✓✗	4	hpp::fcl::CollisionObject capsule(capsuleGeometry, tf1);
65	✓✗	4	hpp::fcl::CollisionObject box(boxGeometry, tf2);
66
67			// test distance
68	✓✗	2	hpp::fcl::distance(&capsule, &box, distanceRequest, distanceResult);
69			// Nearest point on capsule
70	✓✗	2	hpp::fcl::Vec3f o1(distanceResult.nearest_points[0]);
71			// Nearest point on box
72	✓✗	2	hpp::fcl::Vec3f o2(distanceResult.nearest_points[1]);
73	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_CLOSE(distanceResult.min_distance, 0.5, 1e-1);
74	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_CLOSE(o1[0], 1.0, 1e-1);
75	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	CHECK_CLOSE_TO_0(o1[1], 1e-1);
76	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_CLOSE(o2[0], 0.5, 1e-1);
77	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	CHECK_CLOSE_TO_0(o2[1], 1e-1);
78
79			// Move capsule above box
80	✓✗✓✗ ✓✗	2	tf1 = hpp::fcl::Transform3f(hpp::fcl::Vec3f(0., 0., 8.));
81	✓✗	2	capsule.setTransform(tf1);
82
83			// test distance
84	✓✗	2	distanceResult.clear();
85	✓✗	2	hpp::fcl::distance(&capsule, &box, distanceRequest, distanceResult);
86	✓✗	2	o1 = distanceResult.nearest_points[0];
87	✓✗	2	o2 = distanceResult.nearest_points[1];
88
89	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_CLOSE(distanceResult.min_distance, 2.0, 1e-1);
90	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	CHECK_CLOSE_TO_0(o1[0], 1e-1);
91	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	CHECK_CLOSE_TO_0(o1[1], 1e-1);
92	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_CLOSE(o1[2], 4.0, 1e-1);
93
94	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	CHECK_CLOSE_TO_0(o2[0], 1e-1);
95	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	CHECK_CLOSE_TO_0(o2[1], 1e-1);
96	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_CLOSE(o2[2], 2.0, 1e-1);
97
98			// Rotate capsule around y axis by pi/2 and move it behind box
99	✓✗✓✗	2	tf1.setTranslation(hpp::fcl::Vec3f(-10., 0., 0.));
100	✓✗✓✗	2	tf1.setQuatRotation(hpp::fcl::makeQuat(sqrt(2) / 2, 0, sqrt(2) / 2, 0));
101	✓✗	2	capsule.setTransform(tf1);
102
103			// test distance
104	✓✗	2	distanceResult.clear();
105	✓✗	2	hpp::fcl::distance(&capsule, &box, distanceRequest, distanceResult);
106	✓✗	2	o1 = distanceResult.nearest_points[0];
107	✓✗	2	o2 = distanceResult.nearest_points[1];
108
109	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_CLOSE(distanceResult.min_distance, 5.5, 1e-1);
110	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_CLOSE(o1[0], -6, 1e-2);
111	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	CHECK_CLOSE_TO_0(o1[1], 1e-1);
112	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	CHECK_CLOSE_TO_0(o1[2], 1e-1);
113	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_CLOSE(o2[0], -0.5, 1e-2);
114	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	CHECK_CLOSE_TO_0(o2[1], 1e-1);
115	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	CHECK_CLOSE_TO_0(o2[2], 1e-1);
116		2	}