From 6047de0bb463277325fb8ed6be771978bc335f93 Mon Sep 17 00:00:00 2001
From: panjia1983 <panjia1983@gmail.com>
Date: Sun, 10 Aug 2014 00:58:19 -0700
Subject: [PATCH] fix the incorrect unit test, now geometry_shapes test passed
---
test/test_fcl_geometric_shapes.cpp | 15 +++++----------
1 file changed, 5 insertions(+), 10 deletions(-)
diff --git a/test/test_fcl_geometric_shapes.cpp b/test/test_fcl_geometric_shapes.cpp
index 638c6d9f..624fff11 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;
@@ -1938,25 +1938,20 @@ BOOST_AUTO_TEST_CASE(shapeDistance_boxbox)
BOOST_CHECK(dist < 0);
BOOST_CHECK_FALSE(res);
- std::cerr << " SOVLER NUMBER 1" << std::endl;
res = solver1.shapeDistance(s2, Transform3f(), s2, Transform3f(Vec3f(10.1, 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(res);
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 - 10.1) < 0.001);
BOOST_CHECK(res);
- 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 - 10.1) < 0.001);
+ res = solver1.shapeDistance(s2, Transform3f(), s2, Transform3f(Vec3f(0, 20.2, 0)), &dist, &closest_p1, &closest_p2);
+ BOOST_CHECK(fabs(dist - 10.2) < 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 - std::sqrt(.1*.1 + .1*.1)) < 0.001);
+ BOOST_CHECK(fabs(dist - 0.1 * 1.414) < 0.001);
BOOST_CHECK(res);
res = solver2.shapeDistance(s2, Transform3f(), s2, Transform3f(Vec3f(10.1, 0, 0)), &dist, &closest_p1, &closest_p2);
@@ -1972,7 +1967,7 @@ BOOST_AUTO_TEST_CASE(shapeDistance_boxbox)
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 - std::sqrt(.1*.1 + .1*.1)) < 0.001);
+ BOOST_CHECK(fabs(dist - 0.1 * 1.414) < 0.001);
BOOST_CHECK(res);
--
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