Merge pull request #32 from florent-lamiraux/master

Add a test on distance computation between capsule and box.

test/CMakeLists.txt

@@ -30,6 +30,7 @@ add_fcl_test(test_fcl_math test_fcl_math.cpp test_fcl_utility.cpp)
 add_fcl_test(test_fcl_sphere_capsule test_fcl_sphere_capsule.cpp)
 add_fcl_test(test_fcl_capsule_capsule test_fcl_capsule_capsule.cpp)
 add_fcl_test(test_fcl_simple test_fcl_simple.cpp)
+add_fcl_test(test_fcl_capsule_box test_fcl_capsule_box.cpp)
 #add_fcl_test(test_fcl_global_penetration test_fcl_global_penetration.cpp libsvm/svm.cpp test_fcl_utility.cpp)
 
 if (FCL_HAVE_OCTOMAP)

test/test_fcl_capsule_box.cpp

+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2014, CNRS-LAAS
+ *  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 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/unit_test.hpp>
+
+#include <fcl/distance.h>
+#include <fcl/math/transform.h>
+#include <fcl/collision.h>
+#include <fcl/collision_object.h>
+#include <fcl/shape/geometric_shapes.h>
+
+BOOST_AUTO_TEST_CASE(distance_capsule_box)
+{
+  typedef boost::shared_ptr <fcl::CollisionGeometry> CollisionGeometryPtr_t;
+  // Capsule of radius 2 and of height 4
+  CollisionGeometryPtr_t capsuleGeometry (new fcl::Capsule (2., 4.));
+  // Box of size 1 by 2 by 4
+  CollisionGeometryPtr_t boxGeometry (new fcl::Box (1., 2., 4.));
+
+  // Enable computation of nearest points
+  fcl::DistanceRequest distanceRequest (true);
+  fcl::DistanceResult distanceResult;
+  
+  fcl::Transform3f tf1 (fcl::Vec3f (3., 0, 0));
+  fcl::Transform3f tf2;
+  fcl::CollisionObject capsule (capsuleGeometry, tf1);
+  fcl::CollisionObject box (boxGeometry, tf2);
+
+  fcl::distance (&capsule, &box, distanceRequest, distanceResult);
+  // Nearest point on capsule
+  const fcl::Vec3f& o1 (distanceResult.nearest_points [0]);
+  // Nearest point on box
+  const fcl::Vec3f& o2 (distanceResult.nearest_points [1]);
+  BOOST_CHECK_CLOSE (distanceResult.min_distance, 0.5, 1e-4);
+  BOOST_CHECK_CLOSE (o1 [0], -2, 1e-4);
+  BOOST_CHECK_CLOSE (o1 [1], 0, 1e-4);
+  BOOST_CHECK_CLOSE (o2 [0], .5, 1e-4);
+  BOOST_CHECK_CLOSE (o1 [1], 0, 1e-4);
+}