capsule_capsule.cpp 7.73 KB
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/*
 *  Software License Agreement (BSD License)
 *
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 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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 *  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.
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 *   * Neither the name of Open Source Robotics Foundation nor the names of its
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 *     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 Karsten Knese <Karsten.Knese@googlemail.com> */

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#define BOOST_TEST_MODULE FCL_CAPSULE_CAPSULE
#define BOOST_TEST_DYN_LINK
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
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#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
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#include <cmath>
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#include <iostream>
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#include <hpp/fcl/distance.h>
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#include <hpp/fcl/collision.h>
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#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/collision.h>
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/shape/geometric_shapes.h>
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#include "utility.h"
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using namespace hpp::fcl;
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typedef boost::shared_ptr <CollisionGeometry> CollisionGeometryPtr_t;
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BOOST_AUTO_TEST_CASE(collision_capsule_capsule_trivial)
{
  const double radius = 1.;
  
  CollisionGeometryPtr_t c1 (new Capsule (radius, 0.));
  CollisionGeometryPtr_t c2 (new Capsule (radius, 0.));
  
  CollisionGeometryPtr_t s1 (new Sphere (radius));
  CollisionGeometryPtr_t s2 (new Sphere (radius));

  int num_tests = 1e6;
  
  Transform3f tf1;
  Transform3f tf2;
  
  for(int i = 0; i < num_tests; ++i)
  {
    Eigen::Vector3d p1 = Eigen::Vector3d::Random()*(2.*radius);
    Eigen::Vector3d p2 = Eigen::Vector3d::Random()*(2.*radius);
    
    Eigen::Matrix3d rot1 = Eigen::Quaterniond::UnitRandom().toRotationMatrix();
    Eigen::Matrix3d rot2 = Eigen::Quaterniond::UnitRandom().toRotationMatrix();

    tf1.setTranslation(p1); tf1.setRotation(rot1);
    tf2.setTranslation(p2); tf2.setRotation(rot2);
    
    CollisionObject capsule_o1 (c1, tf1);
    CollisionObject capsule_o2 (c2, tf2);
    
    CollisionObject sphere_o1 (s1, tf1);
    CollisionObject sphere_o2 (s2, tf2);
    
    // Enable computation of nearest points
    CollisionRequest collisionRequest;
    CollisionResult capsule_collisionResult, sphere_collisionResult;
    
    size_t sphere_num_collisions = collide(&sphere_o1, &sphere_o2, collisionRequest, sphere_collisionResult);
    size_t capsule_num_collisions = collide(&capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);
    
    BOOST_CHECK(sphere_num_collisions == capsule_num_collisions);
  }
}

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BOOST_AUTO_TEST_CASE(distance_capsulecapsule_origin)
{
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  CollisionGeometryPtr_t s1 (new Capsule (5, 10));
  CollisionGeometryPtr_t s2 (new Capsule (5, 10));
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  Transform3f tf1;
  Transform3f tf2 (Vec3f(20.1, 0,0));
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  CollisionObject o1 (s1, tf1);
  CollisionObject o2 (s2, tf2);
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  // Enable computation of nearest points
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  DistanceRequest distanceRequest (true);
  DistanceResult distanceResult;
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  distance (&o1, &o2, distanceRequest, distanceResult);
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  std::cerr << "Applied translation on two capsules";
  std::cerr << " T1 = " << tf1.getTranslation()
	    << ", T2 = " << tf2.getTranslation() << std::endl;
  std::cerr << "Closest points: p1 = " << distanceResult.nearest_points [0]
	    << ", p2 = " << distanceResult.nearest_points [1]
	    << ", distance = " << distanceResult.min_distance << std::endl;
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  BOOST_CHECK_CLOSE(distanceResult.min_distance, 10.1, 1e-6);
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}

BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformXY)
{
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  CollisionGeometryPtr_t s1 (new Capsule (5, 10));
  CollisionGeometryPtr_t s2 (new Capsule (5, 10));
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  Transform3f tf1;
  Transform3f tf2 (Vec3f(20, 20,0));
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  CollisionObject o1 (s1, tf1);
  CollisionObject o2 (s2, tf2);
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  // Enable computation of nearest points
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  DistanceRequest distanceRequest (true);
  DistanceResult distanceResult;
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  distance (&o1, &o2, distanceRequest, distanceResult);
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  std::cerr << "Applied translation on two capsules";
  std::cerr << " T1 = " << tf1.getTranslation()
	    << ", T2 = " << tf2.getTranslation() << std::endl;
  std::cerr << "Closest points: p1 = " << distanceResult.nearest_points [0]
	    << ", p2 = " << distanceResult.nearest_points [1]
	    << ", distance = " << distanceResult.min_distance << std::endl;
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  FCL_REAL expected = sqrt(800) - 10;
  BOOST_CHECK_CLOSE(distanceResult.min_distance, expected, 1e-6);
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}

BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformZ)
{
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  CollisionGeometryPtr_t s1 (new Capsule (5, 10));
  CollisionGeometryPtr_t s2 (new Capsule (5, 10));
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  Transform3f tf1;
  Transform3f tf2 (Vec3f(0,0,20.1));
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  CollisionObject o1 (s1, tf1);
  CollisionObject o2 (s2, tf2);
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  // Enable computation of nearest points
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  DistanceRequest distanceRequest (true);
  DistanceResult distanceResult;
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  distance (&o1, &o2, distanceRequest, distanceResult);
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  std::cerr << "Applied translation on two capsules";
  std::cerr << " T1 = " << tf1.getTranslation()
	    << ", T2 = " << tf2.getTranslation() << std::endl;
  std::cerr << "Closest points: p1 = " << distanceResult.nearest_points [0]
	    << ", p2 = " << distanceResult.nearest_points [1]
	    << ", distance = " << distanceResult.min_distance << std::endl;
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  BOOST_CHECK_CLOSE(distanceResult.min_distance, 0.1, 1e-6);
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}


BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformZ2)
{
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  CollisionGeometryPtr_t s1 (new Capsule (5, 10));
  CollisionGeometryPtr_t s2 (new Capsule (5, 10));

  Transform3f tf1;
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  Transform3f tf2 (makeQuat (sqrt (2)/2, 0, sqrt (2)/2, 0),
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		   Vec3f(0,0,25.1));

  CollisionObject o1 (s1, tf1);
  CollisionObject o2 (s2, tf2);

  // Enable computation of nearest points
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  DistanceRequest distanceRequest (true);
  DistanceResult distanceResult;
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  distance (&o1, &o2, distanceRequest, distanceResult);

  std::cerr << "Applied rotation and translation on two capsules" << std::endl;
  std::cerr << "R1 = " << tf1.getRotation ()
	    << ", T1 = " << tf1.getTranslation() << std::endl
	    << "R2 = " << tf2.getRotation ()
	    << ", T2 = " << tf2.getTranslation() << std::endl;
  std::cerr << "Closest points: p1 = " << distanceResult.nearest_points [0]
	    << ", p2 = " << distanceResult.nearest_points [1]
	    << ", distance = " << distanceResult.min_distance << std::endl;

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  const Vec3f& p1 = distanceResult.nearest_points [0];
  const Vec3f& p2 = distanceResult.nearest_points [1];
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  BOOST_CHECK_CLOSE(distanceResult.min_distance, 10.1, 1e-6);
  CHECK_CLOSE_TO_0 (p1 [0], 1e-4);
  CHECK_CLOSE_TO_0 (p1 [1], 1e-4);
  BOOST_CHECK_CLOSE (p1 [2], 10, 1e-4);
  CHECK_CLOSE_TO_0 (p2 [0], 1e-4);
  CHECK_CLOSE_TO_0 (p2 [1], 1e-4);
  BOOST_CHECK_CLOSE (p2 [2], 20.1, 1e-4);
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}