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Guilhem Saurel
hpp-fcl
Commits
97a889e4
Commit
97a889e4
authored
Nov 15, 2019
by
Joseph Mirabel
Browse files
[Test] Reduce execution time of unit tests in debug mode.
parent
25d90fd8
Changes
8
Hide whitespace changes
Inline
Side-by-side
test/collision.cpp
View file @
97a889e4
...
...
@@ -63,6 +63,7 @@
#include
"fcl_resources/config.h"
using
namespace
hpp
::
fcl
;
namespace
utf
=
boost
::
unit_test
::
framework
;
int
num_max_contacts
=
std
::
numeric_limits
<
int
>::
max
();
...
...
@@ -587,7 +588,12 @@ BOOST_AUTO_TEST_CASE(mesh_mesh)
{
std
::
vector
<
Transform3f
>
transforms
;
FCL_REAL
extents
[]
=
{
-
3000
,
-
3000
,
0
,
3000
,
3000
,
3000
};
#ifndef NDEBUG // if debug mode
std
::
size_t
n
=
1
;
#else
std
::
size_t
n
=
10
;
#endif
n
=
getNbRun
(
utf
::
master_test_suite
().
argc
,
utf
::
master_test_suite
().
argv
,
n
);
generateRandomTransforms
(
extents
,
transforms
,
n
);
...
...
@@ -609,7 +615,12 @@ BOOST_AUTO_TEST_CASE(mesh_mesh_benchmark)
{
std
::
vector
<
Transform3f
>
transforms
;
FCL_REAL
extents
[]
=
{
-
3000
,
-
3000
,
0
,
3000
,
3000
,
3000
};
#ifndef NDEBUG
std
::
size_t
n
=
0
;
#else
std
::
size_t
n
=
10
;
#endif
n
=
getNbRun
(
utf
::
master_test_suite
().
argc
,
utf
::
master_test_suite
().
argv
,
n
);
generateRandomTransforms
(
extents
,
transforms
,
n
);
...
...
test/distance.cpp
View file @
97a889e4
...
...
@@ -51,6 +51,7 @@
#include
"fcl_resources/config.h"
using
namespace
hpp
::
fcl
;
namespace
utf
=
boost
::
unit_test
::
framework
;
bool
verbose
=
false
;
FCL_REAL
DELTA
=
0.001
;
...
...
@@ -96,7 +97,12 @@ BOOST_AUTO_TEST_CASE(mesh_distance)
std
::
vector
<
Transform3f
>
transforms
;
// t0
FCL_REAL
extents
[]
=
{
-
3000
,
-
3000
,
0
,
3000
,
3000
,
3000
};
#ifndef NDEBUG // if debug mode
std
::
size_t
n
=
1
;
#else
std
::
size_t
n
=
10
;
#endif
n
=
getNbRun
(
utf
::
master_test_suite
().
argc
,
utf
::
master_test_suite
().
argv
,
n
);
generateRandomTransforms
(
extents
,
transforms
,
n
);
...
...
@@ -323,8 +329,8 @@ BOOST_AUTO_TEST_CASE(mesh_distance)
}
std
::
cout
<<
"distance timing: "
<<
dis_time
<<
" sec"
<<
std
::
endl
;
std
::
cout
<<
"collision timing: "
<<
col_time
<<
" sec"
<<
std
::
endl
;
BOOST_TEST_MESSAGE
(
"distance timing: "
<<
dis_time
<<
" sec"
)
;
BOOST_TEST_MESSAGE
(
"collision timing: "
<<
col_time
<<
" sec"
)
;
}
template
<
typename
BV
,
typename
TraversalNode
>
...
...
test/frontlist.cpp
View file @
97a889e4
...
...
@@ -51,6 +51,7 @@
#include
<boost/filesystem.hpp>
using
namespace
hpp
::
fcl
;
namespace
utf
=
boost
::
unit_test
::
framework
;
template
<
typename
BV
>
bool
collide_front_list_Test
(
const
Transform3f
&
tf1
,
const
Transform3f
&
tf2
,
...
...
@@ -84,11 +85,12 @@ BOOST_AUTO_TEST_CASE(front_list)
std
::
vector
<
Transform3f
>
transforms2
;
// t1
FCL_REAL
extents
[]
=
{
-
3000
,
-
3000
,
0
,
3000
,
3000
,
3000
};
FCL_REAL
delta_trans
[]
=
{
1
,
1
,
1
};
#ifdef NDEBUG
std
::
size_t
n
=
2
0
;
#if
n
def NDEBUG
// if debug mode
std
::
size_t
n
=
2
;
#else
std
::
size_t
n
=
5
;
std
::
size_t
n
=
20
;
#endif
n
=
getNbRun
(
utf
::
master_test_suite
().
argc
,
utf
::
master_test_suite
().
argv
,
n
);
bool
verbose
=
false
;
generateRandomTransforms
(
extents
,
delta_trans
,
0.005
*
2
*
3.1415
,
transforms
,
transforms2
,
n
);
...
...
test/obb.cpp
View file @
97a889e4
...
...
@@ -45,6 +45,7 @@
#include
"../src/BV/OBB.h"
#include
"../src/distance_func_matrix.h"
#include
"utility.h"
using
namespace
hpp
::
fcl
;
...
...
@@ -1331,9 +1332,15 @@ std::size_t obb_overlap_and_lower_bound_distance(std::ostream* output)
Vec3f
T
;
CollisionRequest
request
;
#ifndef NDEBUG // if debug mode
static
const
size_t
nbRandomOBB
=
10
;
static
const
size_t
nbTransformPerOBB
=
10
;
static
const
size_t
nbRunForTimeMeas
=
10
;
#else
static
const
size_t
nbRandomOBB
=
100
;
static
const
size_t
nbTransformPerOBB
=
100
;
static
const
size_t
nbRunForTimeMeas
=
1000
;
#endif
static
const
FCL_REAL
extentNorm
=
1.
;
if
(
output
!=
NULL
)
*
output
<<
BenchmarkResult
::
headers
<<
'\n'
;
...
...
test/octree.cpp
View file @
97a889e4
...
...
@@ -49,6 +49,8 @@
#include
"utility.h"
#include
"fcl_resources/config.h"
namespace
utf
=
boost
::
unit_test
::
framework
;
using
hpp
::
fcl
::
Vec3f
;
using
hpp
::
fcl
::
Triangle
;
using
hpp
::
fcl
::
OBBRSS
;
...
...
@@ -136,7 +138,12 @@ BOOST_AUTO_TEST_CASE (OCTREE)
std
::
vector
<
Transform3f
>
transforms
;
FCL_REAL
extents
[]
=
{
-
2000
,
-
2000
,
0
,
2000
,
2000
,
2000
};
#ifndef NDEBUG // if debug mode
std
::
size_t
N
=
100
;
#else
std
::
size_t
N
=
10000
;
#endif
N
=
hpp
::
fcl
::
getNbRun
(
utf
::
master_test_suite
().
argc
,
utf
::
master_test_suite
().
argv
,
N
);
generateRandomTransforms
(
extents
,
transforms
,
2
*
N
);
...
...
test/profiling.cpp
View file @
97a889e4
...
...
@@ -120,7 +120,11 @@ void printResults (const Geometry& g1, const Geometry& g2, const Results& rs)
std
::
cout
<<
g1
.
type
<<
sep
<<
g2
.
type
<<
sep
<<
mean
<<
sep
<<
std
::
sqrt
(
var
)
<<
sep
<<
rs
.
times
.
minCoeff
()
<<
sep
<<
rs
.
times
.
maxCoeff
()
<<
std
::
endl
;
}
#ifndef NDEBUG // if debug mode
int
Ntransform
=
1
;
#else
int
Ntransform
=
100
;
#endif
FCL_REAL
limit
=
20
;
bool
verbose
=
false
;
...
...
test/utility.cpp
View file @
97a889e4
...
...
@@ -444,6 +444,15 @@ std::ostream& operator<< (std::ostream& os, const Transform3f& tf)
<<
" ]"
;
}
std
::
size_t
getNbRun
(
const
int
&
argc
,
char
const
*
const
*
argv
,
std
::
size_t
defaultValue
)
{
for
(
int
i
=
0
;
i
<
argc
;
++
i
)
if
(
strcmp
(
argv
[
i
],
"--nb-run"
)
==
0
)
if
(
i
+
1
!=
argc
)
return
(
std
::
size_t
)
strtol
(
argv
[
i
+
1
],
NULL
,
10
);
return
defaultValue
;
}
}
}
// namespace hpp
test/utility.h
View file @
97a889e4
...
...
@@ -178,6 +178,9 @@ Quaternion3f makeQuat(FCL_REAL w, FCL_REAL x, FCL_REAL y, FCL_REAL z);
std
::
ostream
&
operator
<<
(
std
::
ostream
&
os
,
const
Transform3f
&
tf
);
/// Get the argument --nb-run from argv
std
::
size_t
getNbRun
(
const
int
&
argc
,
char
const
*
const
*
argv
,
std
::
size_t
defaultValue
);
}
}
// namespace hpp
...
...
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