From 15b9089762accfb382fe7527a1caee6388acef0a Mon Sep 17 00:00:00 2001
From: Mark Moll <mmoll@rice.edu>
Date: Mon, 17 Feb 2014 15:22:46 -0600
Subject: [PATCH] Fix some broken unit tests.
---
test/test_fcl_geometric_shapes.cpp | 16 ++++++++--------
test/test_fcl_sphere_capsule.cpp | 24 ------------------------
2 files changed, 8 insertions(+), 32 deletions(-)
diff --git a/test/test_fcl_geometric_shapes.cpp b/test/test_fcl_geometric_shapes.cpp
index 6182629a..638c6d9f 100644
--- a/test/test_fcl_geometric_shapes.cpp
+++ b/test/test_fcl_geometric_shapes.cpp
@@ -1919,7 +1919,7 @@ BOOST_AUTO_TEST_CASE(shapeDistance_spheresphere)
}
BOOST_AUTO_TEST_CASE(shapeDistance_boxbox)
-{
+{
Box s1(20, 40, 50);
Box s2(10, 10, 10);
Vec3f closest_p1, closest_p2;
@@ -1946,17 +1946,17 @@ BOOST_AUTO_TEST_CASE(shapeDistance_boxbox)
res = solver1.shapeDistance(s2, Transform3f(), s2, Transform3f(Vec3f(20.1, 0, 0)), &dist, &closest_p1, &closest_p2);
std::cerr << "computed points in box to box" << closest_p1 << " & " << closest_p2 << "with dist: " << dist<< std::endl;
- BOOST_CHECK(fabs(dist - 0.1) < 0.001);
+ BOOST_CHECK(fabs(dist - 10.1) < 0.001);
BOOST_CHECK(res);
- res = solver1.shapeDistance(s2, Transform3f(), s2, Transform3f(Vec3f(0, 20.2, 0)), &dist, &closest_p1, &closest_p2);
+ res = solver1.shapeDistance(s2, Transform3f(), s2, Transform3f(Vec3f(0, 20.1, 0)), &dist, &closest_p1, &closest_p2);
std::cerr << "computed points in box to box" << closest_p1 << " & " << closest_p2 << "with dist: " << dist<< std::endl;
- BOOST_CHECK(fabs(dist - 0.1) < 0.001);
+ BOOST_CHECK(fabs(dist - 10.1) < 0.001);
BOOST_CHECK(res);
res = solver1.shapeDistance(s2, Transform3f(), s2, Transform3f(Vec3f(10.1, 10.1, 0)), &dist, &closest_p1, &closest_p2);
std::cerr << "computed points in box to box" << closest_p1 << " & " << closest_p2 << "with dist: " << dist<< std::endl;
- BOOST_CHECK(fabs(dist - 0.1) < 0.001);
+ BOOST_CHECK(fabs(dist - std::sqrt(.1*.1 + .1*.1)) < 0.001);
BOOST_CHECK(res);
res = solver2.shapeDistance(s2, Transform3f(), s2, Transform3f(Vec3f(10.1, 0, 0)), &dist, &closest_p1, &closest_p2);
@@ -1964,15 +1964,15 @@ BOOST_AUTO_TEST_CASE(shapeDistance_boxbox)
BOOST_CHECK(res);
res = solver2.shapeDistance(s2, Transform3f(), s2, Transform3f(Vec3f(20.1, 0, 0)), &dist, &closest_p1, &closest_p2);
- BOOST_CHECK(fabs(dist - 0.1) < 0.001);
+ BOOST_CHECK(fabs(dist - 10.1) < 0.001);
BOOST_CHECK(res);
res = solver2.shapeDistance(s2, Transform3f(), s2, Transform3f(Vec3f(0, 20.1, 0)), &dist, &closest_p1, &closest_p2);
- BOOST_CHECK(fabs(dist - 0.1) < 0.001);
+ BOOST_CHECK(fabs(dist - 10.1) < 0.001);
BOOST_CHECK(res);
res = solver2.shapeDistance(s2, Transform3f(), s2, Transform3f(Vec3f(10.1, 10.1, 0)), &dist, &closest_p1, &closest_p2);
- BOOST_CHECK(fabs(dist - 0.1) < 0.001);
+ BOOST_CHECK(fabs(dist - std::sqrt(.1*.1 + .1*.1)) < 0.001);
BOOST_CHECK(res);
diff --git a/test/test_fcl_sphere_capsule.cpp b/test/test_fcl_sphere_capsule.cpp
index 35e1d9c2..6d8cf82c 100644
--- a/test/test_fcl_sphere_capsule.cpp
+++ b/test/test_fcl_sphere_capsule.cpp
@@ -186,30 +186,6 @@ BOOST_AUTO_TEST_CASE(Sphere_Capsule_Distance_test_separated)
Vec3f p2;
bool is_separated = solver.shapeDistance(sphere1, sphere1_transform, capsule, capsule_transform, &distance);
- BOOST_CHECK (is_separated);
- BOOST_CHECK (distance == 25.);
-}
-
-BOOST_AUTO_TEST_CASE(Capsule_Capsule_Distance_test_separated)
-{
- GJKSolver_libccd solver;
-
- Capsule sphere1 (50, 0);
- Transform3f sphere1_transform(Vec3f (0., 0., 0));
-
- Capsule capsule (50, 00.);
- Transform3f capsule_transform (Vec3f (150., 0., 0));
-
- FCL_REAL distance = 0.;
- Vec3f p1;
- Vec3f p2;
- bool is_separated = solver.shapeDistance(sphere1, sphere1_transform, capsule, capsule_transform, &distance, &p1, &p2);
-
- std::cerr << "computed distance: " << distance << std::endl;
- std::cerr << "computed p1: " << p1 << std::endl;
- std::cerr << "computed p2: " << p2 << std::endl;
-
-
BOOST_CHECK (is_separated);
BOOST_CHECK (distance == 25.);
}
--
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