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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	test/nesterov_gjk.cpp	Lines:	141	141	100.0 %
Date:	2024-02-09 12:57:42	Branches:	570	1138	50.1 %


/*
 *  Software License Agreement (BSD License)
 *
 *  Copyright (c) 2022, INRIA
 *  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 Willow Garage, Inc. 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 Louis Montaut */

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

#include <Eigen/Geometry>
#include <hpp/fcl/narrowphase/narrowphase.h>
#include <hpp/fcl/shape/geometric_shapes.h>
#include <hpp/fcl/internal/tools.h>

#include "utility.h"

using hpp::fcl::Box;
using hpp::fcl::Capsule;
using hpp::fcl::constructPolytopeFromEllipsoid;
using hpp::fcl::Convex;
using hpp::fcl::Ellipsoid;
using hpp::fcl::FCL_REAL;
using hpp::fcl::GJKSolver;
using hpp::fcl::GJKVariant;
using hpp::fcl::ShapeBase;
using hpp::fcl::support_func_guess_t;
using hpp::fcl::Transform3f;
using hpp::fcl::Triangle;
using hpp::fcl::Vec3f;
using hpp::fcl::details::GJK;
using hpp::fcl::details::MinkowskiDiff;
using std::size_t;

BOOST_AUTO_TEST_CASE(set_gjk_variant) {
  GJKSolver solver;
  GJK gjk(128, 1e-6);
  MinkowskiDiff shape;

  // Checking defaults
  BOOST_CHECK(solver.gjk_variant == GJKVariant::DefaultGJK);
  BOOST_CHECK(gjk.gjk_variant == GJKVariant::DefaultGJK);
  BOOST_CHECK(shape.normalize_support_direction == false);

  // Checking set
  solver.gjk_variant = GJKVariant::NesterovAcceleration;
  gjk.gjk_variant = GJKVariant::NesterovAcceleration;

  BOOST_CHECK(solver.gjk_variant == GJKVariant::NesterovAcceleration);
  BOOST_CHECK(gjk.gjk_variant == GJKVariant::NesterovAcceleration);
}

BOOST_AUTO_TEST_CASE(need_nesterov_normalize_support_direction) {
  Ellipsoid ellipsoid = Ellipsoid(1, 1, 1);
  Box box = Box(1, 1, 1);
  Convex<Triangle> cvx;

  MinkowskiDiff mink_diff1;
  mink_diff1.set(&ellipsoid, &ellipsoid);
  BOOST_CHECK(mink_diff1.normalize_support_direction == false);

  MinkowskiDiff mink_diff2;
  mink_diff2.set(&ellipsoid, &box);
  BOOST_CHECK(mink_diff2.normalize_support_direction == false);

  MinkowskiDiff mink_diff3;
  mink_diff3.set(&cvx, &cvx);
  BOOST_CHECK(mink_diff3.normalize_support_direction == true);
}

void test_nesterov_gjk(const ShapeBase& shape0, const ShapeBase& shape1) {
  // Solvers
  unsigned int max_iterations = 128;
  FCL_REAL tolerance = 1e-6;
  GJK gjk(max_iterations, tolerance);
  GJK gjk_nesterov(max_iterations, tolerance);
  gjk_nesterov.gjk_variant = GJKVariant::NesterovAcceleration;

  // Minkowski difference
  MinkowskiDiff mink_diff;

  // Generate random transforms
  size_t n = 1000;
  FCL_REAL extents[] = {-3., -3., 0, 3., 3., 3.};
  std::vector<Transform3f> transforms;
  generateRandomTransforms(extents, transforms, n);
  Transform3f identity = Transform3f::Identity();

  // Same init for both solvers
  Vec3f init_guess = Vec3f(1, 0, 0);
  support_func_guess_t init_support_guess;
  init_support_guess.setZero();

  for (size_t i = 0; i < n; ++i) {
    mink_diff.set(&shape0, &shape1, identity, transforms[i]);

    // Evaluate both solvers twice, make sure they give the same solution
    GJK::Status res_gjk_1 =
        gjk.evaluate(mink_diff, init_guess, init_support_guess);
    Vec3f ray_gjk = gjk.ray;
    GJK::Status res_gjk_2 =
        gjk.evaluate(mink_diff, init_guess, init_support_guess);
    BOOST_CHECK(res_gjk_1 == res_gjk_2);
    EIGEN_VECTOR_IS_APPROX(ray_gjk, gjk.ray, 1e-8);

    GJK::Status res_nesterov_gjk_1 =
        gjk_nesterov.evaluate(mink_diff, init_guess, init_support_guess);
    Vec3f ray_nesterov = gjk_nesterov.ray;
    GJK::Status res_nesterov_gjk_2 =
        gjk_nesterov.evaluate(mink_diff, init_guess, init_support_guess);
    BOOST_CHECK(res_nesterov_gjk_1 == res_nesterov_gjk_2);
    EIGEN_VECTOR_IS_APPROX(ray_nesterov, gjk_nesterov.ray, 1e-8);

    // Make sure GJK and Nesterov accelerated GJK find the same distance between
    // the shapes
    BOOST_CHECK(res_nesterov_gjk_1 == res_gjk_1);
    BOOST_CHECK_SMALL(fabs(ray_gjk.norm() - ray_nesterov.norm()), 1e-4);

    // Make sure GJK and Nesterov accelerated GJK converges in a reasonable
    // amount of iterations
    BOOST_CHECK(gjk.getIterations() < max_iterations);
    BOOST_CHECK(gjk_nesterov.getIterations() < max_iterations);
  }
}

BOOST_AUTO_TEST_CASE(ellipsoid_ellipsoid) {
  Ellipsoid ellipsoid0 = Ellipsoid(0.3, 0.4, 0.5);
  Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);

  test_nesterov_gjk(ellipsoid0, ellipsoid1);
  test_nesterov_gjk(ellipsoid0, ellipsoid1);
}

BOOST_AUTO_TEST_CASE(ellipsoid_capsule) {
  Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
  Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
  Capsule capsule0 = Capsule(0.1, 0.3);
  Capsule capsule1 = Capsule(1.1, 1.3);

  test_nesterov_gjk(ellipsoid0, capsule0);
  test_nesterov_gjk(ellipsoid0, capsule1);
  test_nesterov_gjk(ellipsoid1, capsule0);
  test_nesterov_gjk(ellipsoid1, capsule1);
}

BOOST_AUTO_TEST_CASE(ellipsoid_box) {
  Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
  Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
  Box box0 = Box(0.1, 0.2, 0.3);
  Box box1 = Box(1.1, 1.2, 1.3);

  test_nesterov_gjk(ellipsoid0, box0);
  test_nesterov_gjk(ellipsoid0, box1);
  test_nesterov_gjk(ellipsoid1, box0);
  test_nesterov_gjk(ellipsoid1, box1);
}

BOOST_AUTO_TEST_CASE(ellipsoid_mesh) {
  Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
  Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
  Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
  Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);

  test_nesterov_gjk(ellipsoid0, cvx0);
  test_nesterov_gjk(ellipsoid0, cvx1);
  test_nesterov_gjk(ellipsoid1, cvx0);
  test_nesterov_gjk(ellipsoid1, cvx1);
}

BOOST_AUTO_TEST_CASE(capsule_mesh) {
  Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
  Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
  Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
  Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);
  Capsule capsule0 = Capsule(0.1, 0.3);
  Capsule capsule1 = Capsule(1.1, 1.3);

  test_nesterov_gjk(capsule0, cvx0);
  test_nesterov_gjk(capsule0, cvx1);
  test_nesterov_gjk(capsule1, cvx0);
  test_nesterov_gjk(capsule1, cvx1);
}

BOOST_AUTO_TEST_CASE(capsule_capsule) {
  Capsule capsule0 = Capsule(0.1, 0.3);
  Capsule capsule1 = Capsule(1.1, 1.3);

  test_nesterov_gjk(capsule0, capsule0);
  test_nesterov_gjk(capsule1, capsule1);
  test_nesterov_gjk(capsule0, capsule1);
}

BOOST_AUTO_TEST_CASE(box_box) {
  Box box0 = Box(0.1, 0.2, 0.3);
  Box box1 = Box(1.1, 1.2, 1.3);
  test_nesterov_gjk(box0, box0);
  test_nesterov_gjk(box0, box1);
  test_nesterov_gjk(box1, box1);
}

BOOST_AUTO_TEST_CASE(box_mesh) {
  Box box0 = Box(0.1, 0.2, 0.3);
  Box box1 = Box(1.1, 1.2, 1.3);
  Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
  Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
  Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
  Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);

  test_nesterov_gjk(box0, cvx0);
  test_nesterov_gjk(box0, cvx1);
  test_nesterov_gjk(box1, cvx0);
  test_nesterov_gjk(box1, cvx1);
}

BOOST_AUTO_TEST_CASE(mesh_mesh) {
  Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
  Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
  Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
  Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);

  test_nesterov_gjk(cvx0, cvx0);
  test_nesterov_gjk(cvx0, cvx1);
  test_nesterov_gjk(cvx1, cvx1);
}


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2022, INRIA
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 Willow Garage, Inc. 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 Louis Montaut */
36
37			#define BOOST_TEST_MODULE FCL_NESTEROV_GJK
38			#include <boost/test/included/unit_test.hpp>
39
40			#include <Eigen/Geometry>
41			#include <hpp/fcl/narrowphase/narrowphase.h>
42			#include <hpp/fcl/shape/geometric_shapes.h>
43			#include <hpp/fcl/internal/tools.h>
44
45			#include "utility.h"
46
47			using hpp::fcl::Box;
48			using hpp::fcl::Capsule;
49			using hpp::fcl::constructPolytopeFromEllipsoid;
50			using hpp::fcl::Convex;
51			using hpp::fcl::Ellipsoid;
52			using hpp::fcl::FCL_REAL;
53			using hpp::fcl::GJKSolver;
54			using hpp::fcl::GJKVariant;
55			using hpp::fcl::ShapeBase;
56			using hpp::fcl::support_func_guess_t;
57			using hpp::fcl::Transform3f;
58			using hpp::fcl::Triangle;
59			using hpp::fcl::Vec3f;
60			using hpp::fcl::details::GJK;
61			using hpp::fcl::details::MinkowskiDiff;
62			using std::size_t;
63
64	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(set_gjk_variant) {
65	✓✗	2	GJKSolver solver;
66	✓✗	2	GJK gjk(128, 1e-6);
67	✓✗	4	MinkowskiDiff shape;
68
69			// Checking defaults
70	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(solver.gjk_variant == GJKVariant::DefaultGJK);
71	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(gjk.gjk_variant == GJKVariant::DefaultGJK);
72	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(shape.normalize_support_direction == false);
73
74			// Checking set
75		2	solver.gjk_variant = GJKVariant::NesterovAcceleration;
76		2	gjk.gjk_variant = GJKVariant::NesterovAcceleration;
77
78	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(solver.gjk_variant == GJKVariant::NesterovAcceleration);
79	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(gjk.gjk_variant == GJKVariant::NesterovAcceleration);
80		2	}
81
82	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(need_nesterov_normalize_support_direction) {
83	✓✗	4	Ellipsoid ellipsoid = Ellipsoid(1, 1, 1);
84	✓✗	4	Box box = Box(1, 1, 1);
85	✓✗	4	Convex<Triangle> cvx;
86
87	✓✗	4	MinkowskiDiff mink_diff1;
88	✓✗	2	mink_diff1.set(&ellipsoid, &ellipsoid);
89	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(mink_diff1.normalize_support_direction == false);
90
91	✓✗	4	MinkowskiDiff mink_diff2;
92	✓✗	2	mink_diff2.set(&ellipsoid, &box);
93	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(mink_diff2.normalize_support_direction == false);
94
95	✓✗	4	MinkowskiDiff mink_diff3;
96	✓✗	2	mink_diff3.set(&cvx, &cvx);
97	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(mink_diff3.normalize_support_direction == true);
98		2	}
99
100		31	void test_nesterov_gjk(const ShapeBase& shape0, const ShapeBase& shape1) {
101			// Solvers
102		31	unsigned int max_iterations = 128;
103		31	FCL_REAL tolerance = 1e-6;
104	✓✗	31	GJK gjk(max_iterations, tolerance);
105	✓✗	31	GJK gjk_nesterov(max_iterations, tolerance);
106		31	gjk_nesterov.gjk_variant = GJKVariant::NesterovAcceleration;
107
108			// Minkowski difference
109	✓✗	62	MinkowskiDiff mink_diff;
110
111			// Generate random transforms
112		31	size_t n = 1000;
113		31	FCL_REAL extents[] = {-3., -3., 0, 3., 3., 3.};
114		62	std::vector<Transform3f> transforms;
115	✓✗	31	generateRandomTransforms(extents, transforms, n);
116	✓✗	31	Transform3f identity = Transform3f::Identity();
117
118			// Same init for both solvers
119	✓✗	31	Vec3f init_guess = Vec3f(1, 0, 0);
120	✓✗	31	support_func_guess_t init_support_guess;
121	✓✗	31	init_support_guess.setZero();
122
123	✓✓	31031	for (size_t i = 0; i < n; ++i) {
124	✓✗	31000	mink_diff.set(&shape0, &shape1, identity, transforms[i]);
125
126			// Evaluate both solvers twice, make sure they give the same solution
127			GJK::Status res_gjk_1 =
128	✓✗	31000	gjk.evaluate(mink_diff, init_guess, init_support_guess);
129	✓✗	31000	Vec3f ray_gjk = gjk.ray;
130			GJK::Status res_gjk_2 =
131	✓✗	31000	gjk.evaluate(mink_diff, init_guess, init_support_guess);
132	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	31000	BOOST_CHECK(res_gjk_1 == res_gjk_2);
133	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	31000	EIGEN_VECTOR_IS_APPROX(ray_gjk, gjk.ray, 1e-8);
134
135			GJK::Status res_nesterov_gjk_1 =
136	✓✗	31000	gjk_nesterov.evaluate(mink_diff, init_guess, init_support_guess);
137	✓✗	31000	Vec3f ray_nesterov = gjk_nesterov.ray;
138			GJK::Status res_nesterov_gjk_2 =
139	✓✗	31000	gjk_nesterov.evaluate(mink_diff, init_guess, init_support_guess);
140	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	31000	BOOST_CHECK(res_nesterov_gjk_1 == res_nesterov_gjk_2);
141	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	31000	EIGEN_VECTOR_IS_APPROX(ray_nesterov, gjk_nesterov.ray, 1e-8);
142
143			// Make sure GJK and Nesterov accelerated GJK find the same distance between
144			// the shapes
145	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	31000	BOOST_CHECK(res_nesterov_gjk_1 == res_gjk_1);
146	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	31000	BOOST_CHECK_SMALL(fabs(ray_gjk.norm() - ray_nesterov.norm()), 1e-4);
147
148			// Make sure GJK and Nesterov accelerated GJK converges in a reasonable
149			// amount of iterations
150	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	31000	BOOST_CHECK(gjk.getIterations() < max_iterations);
151	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	31000	BOOST_CHECK(gjk_nesterov.getIterations() < max_iterations);
152			}
153		31	}
154
155	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(ellipsoid_ellipsoid) {
156	✓✗	4	Ellipsoid ellipsoid0 = Ellipsoid(0.3, 0.4, 0.5);
157	✓✗	4	Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
158
159	✓✗	2	test_nesterov_gjk(ellipsoid0, ellipsoid1);
160	✓✗	2	test_nesterov_gjk(ellipsoid0, ellipsoid1);
161		2	}
162
163	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(ellipsoid_capsule) {
164	✓✗	4	Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
165	✓✗	4	Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
166	✓✗	4	Capsule capsule0 = Capsule(0.1, 0.3);
167	✓✗	4	Capsule capsule1 = Capsule(1.1, 1.3);
168
169	✓✗	2	test_nesterov_gjk(ellipsoid0, capsule0);
170	✓✗	2	test_nesterov_gjk(ellipsoid0, capsule1);
171	✓✗	2	test_nesterov_gjk(ellipsoid1, capsule0);
172	✓✗	2	test_nesterov_gjk(ellipsoid1, capsule1);
173		2	}
174
175	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(ellipsoid_box) {
176	✓✗	4	Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
177	✓✗	4	Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
178	✓✗	4	Box box0 = Box(0.1, 0.2, 0.3);
179	✓✗	4	Box box1 = Box(1.1, 1.2, 1.3);
180
181	✓✗	2	test_nesterov_gjk(ellipsoid0, box0);
182	✓✗	2	test_nesterov_gjk(ellipsoid0, box1);
183	✓✗	2	test_nesterov_gjk(ellipsoid1, box0);
184	✓✗	2	test_nesterov_gjk(ellipsoid1, box1);
185		2	}
186
187	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(ellipsoid_mesh) {
188	✓✗	4	Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
189	✓✗	4	Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
190	✓✗	4	Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
191	✓✗	4	Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);
192
193	✓✗	2	test_nesterov_gjk(ellipsoid0, cvx0);
194	✓✗	2	test_nesterov_gjk(ellipsoid0, cvx1);
195	✓✗	2	test_nesterov_gjk(ellipsoid1, cvx0);
196	✓✗	2	test_nesterov_gjk(ellipsoid1, cvx1);
197		2	}
198
199	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(capsule_mesh) {
200	✓✗	4	Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
201	✓✗	4	Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
202	✓✗	4	Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
203	✓✗	4	Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);
204	✓✗	4	Capsule capsule0 = Capsule(0.1, 0.3);
205	✓✗	4	Capsule capsule1 = Capsule(1.1, 1.3);
206
207	✓✗	2	test_nesterov_gjk(capsule0, cvx0);
208	✓✗	2	test_nesterov_gjk(capsule0, cvx1);
209	✓✗	2	test_nesterov_gjk(capsule1, cvx0);
210	✓✗	2	test_nesterov_gjk(capsule1, cvx1);
211		2	}
212
213	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(capsule_capsule) {
214	✓✗	4	Capsule capsule0 = Capsule(0.1, 0.3);
215	✓✗	4	Capsule capsule1 = Capsule(1.1, 1.3);
216
217	✓✗	2	test_nesterov_gjk(capsule0, capsule0);
218	✓✗	2	test_nesterov_gjk(capsule1, capsule1);
219	✓✗	2	test_nesterov_gjk(capsule0, capsule1);
220		2	}
221
222	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(box_box) {
223	✓✗	4	Box box0 = Box(0.1, 0.2, 0.3);
224	✓✗	4	Box box1 = Box(1.1, 1.2, 1.3);
225	✓✗	2	test_nesterov_gjk(box0, box0);
226	✓✗	2	test_nesterov_gjk(box0, box1);
227	✓✗	2	test_nesterov_gjk(box1, box1);
228		2	}
229
230	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(box_mesh) {
231	✓✗	4	Box box0 = Box(0.1, 0.2, 0.3);
232	✓✗	4	Box box1 = Box(1.1, 1.2, 1.3);
233	✓✗	4	Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
234	✓✗	4	Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
235	✓✗	4	Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
236	✓✗	4	Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);
237
238	✓✗	2	test_nesterov_gjk(box0, cvx0);
239	✓✗	2	test_nesterov_gjk(box0, cvx1);
240	✓✗	2	test_nesterov_gjk(box1, cvx0);
241	✓✗	2	test_nesterov_gjk(box1, cvx1);
242		2	}
243
244	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(mesh_mesh) {
245	✓✗	4	Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
246	✓✗	4	Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
247	✓✗	4	Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
248	✓✗	4	Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);
249
250	✓✗	2	test_nesterov_gjk(cvx0, cvx0);
251	✓✗	2	test_nesterov_gjk(cvx0, cvx1);
252	✓✗	2	test_nesterov_gjk(cvx1, cvx1);
253		2	}