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Guilhem Saurel
hpp-fcl
Commits
c86aba3a
Commit
c86aba3a
authored
Nov 23, 2018
by
Joseph Mirabel
Browse files
Fix unit-tests after removal of broadphase + compilation warning.
parent
cfc4ec67
Changes
4
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Side-by-side
include/hpp/fcl/collision_data.h
View file @
c86aba3a
...
...
@@ -478,11 +478,11 @@ public:
&&
b2
==
other
.
b2
;
// TODO: check also that two GeometryObject are indeed equal.
if
(
o1
!=
NULL
xor
other
.
o1
!=
NULL
)
return
false
;
if
(
(
o1
!=
NULL
)
xor
(
other
.
o1
!=
NULL
)
)
return
false
;
is_same
&=
(
o1
==
other
.
o1
);
// else if (o1 != NULL and other.o1 != NULL) is_same &= *o1 == *other.o1;
if
(
o2
!=
NULL
xor
other
.
o2
!=
NULL
)
return
false
;
if
(
(
o2
!=
NULL
)
xor
(
other
.
o2
!=
NULL
)
)
return
false
;
is_same
&=
(
o2
==
other
.
o2
);
// else if (o2 != NULL and other.o2 != NULL) is_same &= *o2 == *other.o2;
...
...
test/CMakeLists.txt
View file @
c86aba3a
...
...
@@ -46,11 +46,6 @@ add_fcl_test(test_fcl_bvh_models test_fcl_bvh_models.cpp test_fcl_utility.cpp)
add_fcl_test
(
test_fcl_profiling test_fcl_profiling.cpp test_fcl_utility.cpp
)
PKG_CONFIG_USE_DEPENDENCY
(
test_fcl_profiling assimp
)
if
(
FCL_HAVE_OCTOMAP
)
add_fcl_test
(
test_fcl_octomap test_fcl_octomap.cpp test_fcl_utility.cpp
)
PKG_CONFIG_USE_DEPENDENCY
(
test_fcl_octomap octomap
)
endif
()
## Benchmark
add_executable
(
benchmark benchmark.cpp test_fcl_utility.cpp
)
target_link_libraries
(
benchmark hpp-fcl
${
Boost_LIBRARIES
}
)
test/test_fcl_math.cpp
View file @
c86aba3a
...
...
@@ -42,7 +42,6 @@
#include
<hpp/fcl/math/vec_3f.h>
#include
<hpp/fcl/math/matrix_3f.h>
#include
<hpp/fcl/math/transform.h>
#include
<hpp/fcl/broadphase/morton.h>
#include
<hpp/fcl/intersect.h>
...
...
@@ -114,22 +113,6 @@ BOOST_AUTO_TEST_CASE(vec_test_eigen_vec64)
BOOST_CHECK
(
v1
.
dot
(
v2
)
==
26
);
}
BOOST_AUTO_TEST_CASE
(
morton
)
{
AABB
bbox
(
Vec3f
(
0
,
0
,
0
),
Vec3f
(
1000
,
1000
,
1000
));
morton_functor
<
boost
::
dynamic_bitset
<>
>
F1
(
bbox
,
10
);
morton_functor
<
boost
::
dynamic_bitset
<>
>
F2
(
bbox
,
20
);
morton_functor
<
FCL_UINT64
>
F3
(
bbox
);
morton_functor
<
FCL_UINT32
>
F4
(
bbox
);
Vec3f
p
(
254
,
873
,
674
);
std
::
cout
<<
std
::
hex
<<
F1
(
p
).
to_ulong
()
<<
std
::
endl
;
std
::
cout
<<
std
::
hex
<<
F2
(
p
).
to_ulong
()
<<
std
::
endl
;
std
::
cout
<<
std
::
hex
<<
F3
(
p
)
<<
std
::
endl
;
std
::
cout
<<
std
::
hex
<<
F4
(
p
)
<<
std
::
endl
;
}
Vec3f
rotate
(
Vec3f
input
,
FCL_REAL
w
,
Vec3f
vec
)
{
return
2
*
vec
.
dot
(
input
)
*
vec
+
(
w
*
w
-
vec
.
dot
(
vec
))
*
input
+
2
*
w
*
vec
.
cross
(
input
);
}
...
...
test/test_fcl_octomap.cpp
deleted
100644 → 0
View file @
cfc4ec67
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