Commit c86aba3a authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Fix unit-tests after removal of broadphase + compilation warning.

parent cfc4ec67
......@@ -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;
......
......@@ -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})
......@@ -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);
}
......
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