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Guilhem Saurel
hpp-fcl
Commits
ab44d479
Commit
ab44d479
authored
Apr 01, 2020
by
Joseph Mirabel
Browse files
[Test] update thresholds.
parent
43e40c05
Changes
2
Hide whitespace changes
Inline
Side-by-side
test/convex.cpp
View file @
ab44d479
...
...
@@ -217,7 +217,7 @@ template <typename Sa, typename Sb> void compareShapeDistance (
BOOST_AUTO_TEST_CASE
(
compare_convex_box
)
{
FCL_REAL
extents
[
6
]
=
{
0
,
0
,
0
,
10
,
10
,
10
};
FCL_REAL
l
=
1
,
w
=
1
,
d
=
1
;
FCL_REAL
l
=
1
,
w
=
1
,
d
=
1
,
eps
=
1e-4
;
Box
box
(
l
*
2
,
w
*
2
,
d
*
2
);
Convex
<
Quadrilateral
>
convex_box
(
buildBox
(
l
,
w
,
d
));
...
...
@@ -225,16 +225,16 @@ BOOST_AUTO_TEST_CASE(compare_convex_box)
Transform3f
tf2
;
tf2
.
setTranslation
(
Vec3f
(
3
,
0
,
0
));
compareShapeIntersection
(
box
,
convex_box
,
tf1
,
tf2
);
compareShapeDistance
(
box
,
convex_box
,
tf1
,
tf2
);
compareShapeIntersection
(
box
,
convex_box
,
tf1
,
tf2
,
eps
);
compareShapeDistance
(
box
,
convex_box
,
tf1
,
tf2
,
eps
);
tf2
.
setTranslation
(
Vec3f
(
0
,
0
,
0
));
compareShapeIntersection
(
box
,
convex_box
,
tf1
,
tf2
);
compareShapeDistance
(
box
,
convex_box
,
tf1
,
tf2
);
compareShapeIntersection
(
box
,
convex_box
,
tf1
,
tf2
,
eps
);
compareShapeDistance
(
box
,
convex_box
,
tf1
,
tf2
,
eps
);
for
(
int
i
=
0
;
i
<
1000
;
++
i
)
{
generateRandomTransform
(
extents
,
tf2
);
compareShapeIntersection
(
box
,
convex_box
,
tf1
,
tf2
);
compareShapeDistance
(
box
,
convex_box
,
tf1
,
tf2
);
compareShapeIntersection
(
box
,
convex_box
,
tf1
,
tf2
,
eps
);
compareShapeDistance
(
box
,
convex_box
,
tf1
,
tf2
,
eps
);
}
}
test/geometric_shapes.cpp
View file @
ab44d479
...
...
@@ -471,7 +471,7 @@ BOOST_AUTO_TEST_CASE(shapeIntersection_boxbox)
tf1
=
Transform3f
();
tf2
=
Transform3f
(
Vec3f
(
15
,
0
,
0
));
normal
<<
1
,
0
,
0
;
SET_LINE
;
testShapeIntersection
(
s1
,
tf1
,
s2
,
tf2
,
true
,
NULL
,
NULL
,
&
normal
);
SET_LINE
;
testShapeIntersection
(
s1
,
tf1
,
s2
,
tf2
,
true
,
NULL
,
NULL
,
&
normal
,
false
,
1e-8
);
tf1
=
Transform3f
();
tf2
=
Transform3f
(
Vec3f
(
15.01
,
0
,
0
));
...
...
@@ -3023,7 +3023,7 @@ BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_boxbox)
tf1
=
Transform3f
();
tf2
=
Transform3f
(
Vec3f
(
15
,
0
,
0
));
normal
<<
1
,
0
,
0
;
SET_LINE
;
testShapeIntersection
(
s1
,
tf1
,
s2
,
tf2
,
true
,
NULL
,
NULL
,
&
normal
);
SET_LINE
;
testShapeIntersection
(
s1
,
tf1
,
s2
,
tf2
,
true
,
NULL
,
NULL
,
&
normal
,
false
,
1e-8
);
tf1
=
transform
;
tf2
=
transform
*
Transform3f
(
Vec3f
(
15.01
,
0
,
0
));
...
...
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