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Guilhem Saurel
hpp-fcl
Commits
cdeb18c8
Commit
cdeb18c8
authored
Aug 29, 2019
by
Joseph Mirabel
Browse files
Remove prefix test_fcl_ from the unit-tests.
parent
cf879918
Changes
33
Hide whitespace changes
Inline
Side-by-side
test/CMakeLists.txt
View file @
cdeb18c8
...
...
@@ -21,36 +21,35 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
include_directories
(
SYSTEM
${
Boost_INCLUDE_DIRS
}
)
add_fcl_test
(
test_fcl_math test_fcl_math.cpp
)
add_fcl_test
(
test_fcl_collision test_fcl_collision.cpp test_fcl_utility.cpp
)
add_fcl_test
(
test_fcl_distance test_fcl_distance.cpp test_fcl_utility.cpp
)
add_fcl_test
(
test_fcl_distance_lower_bound test_fcl_distance_lower_bound.cpp
test_fcl_utility.cpp
)
add_fcl_test
(
test_fcl_geometric_shapes test_fcl_geometric_shapes.cpp test_fcl_utility.cpp
)
#add_fcl_test(test_fcl_broadphase test_fcl_broadphase.cpp test_fcl_utility.cpp)
#add_fcl_test(test_fcl_shape_mesh_consistency test_fcl_shape_mesh_consistency.cpp test_fcl_utility.cpp)
add_fcl_test
(
test_fcl_frontlist test_fcl_frontlist.cpp test_fcl_utility.cpp
)
#add_fcl_test(test_fcl_math test_fcl_math.cpp test_fcl_utility.cpp)
# add_fcl_test(test_fcl_sphere_capsule test_fcl_sphere_capsule.cpp)
add_fcl_test
(
test_fcl_capsule_capsule test_fcl_capsule_capsule.cpp test_fcl_utility.cpp
)
add_fcl_test
(
test_fcl_box_box_distance test_fcl_box_box_distance.cpp test_fcl_utility.cpp
)
add_fcl_test
(
test_fcl_simple test_fcl_simple.cpp
)
add_fcl_test
(
test_fcl_capsule_box_1 test_fcl_capsule_box_1.cpp test_fcl_utility.cpp
)
add_fcl_test
(
test_fcl_capsule_box_2 test_fcl_capsule_box_2.cpp test_fcl_utility.cpp
)
add_fcl_test
(
test_fcl_obb test_fcl_obb.cpp
)
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
)
add_fcl_test
(
test_fcl_gjk test_fcl_gjk.cpp
)
add_fcl_test
(
math math.cpp
)
add_fcl_test
(
collision collision.cpp utility.cpp
)
add_fcl_test
(
distance distance.cpp utility.cpp
)
add_fcl_test
(
distance_lower_bound distance_lower_bound.cpp utility.cpp
)
add_fcl_test
(
geometric_shapes geometric_shapes.cpp utility.cpp
)
#add_fcl_test(broadphase broadphase.cpp utility.cpp)
#add_fcl_test(shape_mesh_consistency shape_mesh_consistency.cpp utility.cpp)
add_fcl_test
(
frontlist frontlist.cpp utility.cpp
)
#add_fcl_test(math math.cpp utility.cpp)
# add_fcl_test(sphere_capsule sphere_capsule.cpp)
add_fcl_test
(
capsule_capsule capsule_capsule.cpp utility.cpp
)
add_fcl_test
(
box_box_distance box_box_distance.cpp utility.cpp
)
add_fcl_test
(
simple simple.cpp
)
add_fcl_test
(
capsule_box_1 capsule_box_1.cpp utility.cpp
)
add_fcl_test
(
capsule_box_2 capsule_box_2.cpp utility.cpp
)
add_fcl_test
(
obb obb.cpp
)
add_fcl_test
(
bvh_models bvh_models.cpp utility.cpp
)
add_fcl_test
(
profiling profiling.cpp utility.cpp
)
PKG_CONFIG_USE_DEPENDENCY
(
profiling assimp
)
add_fcl_test
(
gjk gjk.cpp
)
if
(
HPP_FCL_HAVE_OCTOMAP
)
add_fcl_test
(
test_fcl_octree test_fcl_
octree.cpp
test_fcl_
utility.cpp
)
add_fcl_test
(
octree
octree.cpp utility.cpp
)
endif
(
HPP_FCL_HAVE_OCTOMAP
)
## Benchmark
add_executable
(
test-benchmark benchmark.cpp
test_fcl_
utility.cpp
)
add_executable
(
test-benchmark benchmark.cpp utility.cpp
)
target_link_libraries
(
test-benchmark hpp-fcl
${
Boost_LIBRARIES
}
)
test/benchmark.cpp
View file @
cdeb18c8
...
...
@@ -17,7 +17,7 @@
#include
<hpp/fcl/traversal/traversal_node_setup.h>
#include
<hpp/fcl/traversal/traversal_node_bvhs.h>
#include
<../src/collision_node.h>
#include
"
test_fcl_
utility.h"
#include
"utility.h"
#include
"fcl_resources/config.h"
#include
<boost/filesystem.hpp>
...
...
test/benchmark/test_fcl_gjk.output
View file @
cdeb18c8
Result after running
test_fcl_
gjk in Release mode.
Result after running gjk in Release mode.
nCol = 2840
nDiff = 0
...
...
test/
test_fcl_
box_box_distance.cpp
→
test/box_box_distance.cpp
View file @
cdeb18c8
...
...
@@ -48,7 +48,7 @@
#include
<hpp/fcl/collision_object.h>
#include
<hpp/fcl/shape/geometric_shapes.h>
#include
"
test_fcl_
utility.h"
#include
"utility.h"
typedef
boost
::
shared_ptr
<
hpp
::
fcl
::
CollisionGeometry
>
CollisionGeometryPtr_t
;
...
...
test/
test_fcl_
broadphase.cpp
→
test/broadphase.cpp
View file @
cdeb18c8
...
...
@@ -45,7 +45,7 @@
#include
<hpp/fcl/broadphase/broadphase.h>
#include
<hpp/fcl/shape/geometric_shape_to_BVH_model.h>
#include
<hpp/fcl/math/transform.h>
#include
"
test_fcl_
utility.h"
#include
"utility.h"
#if USE_GOOGLEHASH
#include
<sparsehash/sparse_hash_map>
...
...
test/
test_fcl_
bvh_models.cpp
→
test/bvh_models.cpp
View file @
cdeb18c8
...
...
@@ -50,7 +50,7 @@
#include
"hpp/fcl/shape/geometric_shapes.h"
#include
<hpp/fcl/mesh_loader/assimp.h>
#include
<hpp/fcl/mesh_loader/loader.h>
#include
"
test_fcl_
utility.h"
#include
"utility.h"
#include
<iostream>
using
namespace
hpp
::
fcl
;
...
...
test/
test_fcl_
capsule_box_1.cpp
→
test/capsule_box_1.cpp
View file @
cdeb18c8
...
...
@@ -49,7 +49,7 @@
#include
<hpp/fcl/collision_object.h>
#include
<hpp/fcl/shape/geometric_shapes.h>
#include
"
test_fcl_
utility.h"
#include
"utility.h"
BOOST_AUTO_TEST_CASE
(
distance_capsule_box
)
{
...
...
test/
test_fcl_
capsule_box_2.cpp
→
test/capsule_box_2.cpp
View file @
cdeb18c8
...
...
@@ -42,7 +42,7 @@
#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
#include
"
test_fcl_
utility.h"
#include
"utility.h"
#include
<cmath>
#include
<hpp/fcl/distance.h>
...
...
test/
test_fcl_
capsule_capsule.cpp
→
test/capsule_capsule.cpp
View file @
cdeb18c8
...
...
@@ -49,7 +49,7 @@
#include
<hpp/fcl/collision_object.h>
#include
<hpp/fcl/shape/geometric_shapes.h>
#include
"
test_fcl_
utility.h"
#include
"utility.h"
using
namespace
hpp
::
fcl
;
typedef
boost
::
shared_ptr
<
CollisionGeometry
>
CollisionGeometryPtr_t
;
...
...
test/
test_fcl_
collision-bench.py
→
test/collision-bench.py
View file @
cdeb18c8
File moved
test/
test_fcl_
collision.cpp
→
test/collision.cpp
View file @
cdeb18c8
...
...
@@ -54,7 +54,7 @@
#include
<hpp/fcl/shape/geometric_shapes.h>
#include
<hpp/fcl/narrowphase/narrowphase.h>
#include
<hpp/fcl/mesh_loader/assimp.h>
#include
"
test_fcl_
utility.h"
#include
"utility.h"
#include
"fcl_resources/config.h"
#include
<boost/filesystem.hpp>
...
...
@@ -585,7 +585,7 @@ BOOST_AUTO_TEST_CASE(mesh_mesh_benchmark)
// Request all contacts and check that all methods give the same result.
typedef
boost
::
mpl
::
vector
<
OBB
,
RSS
,
AABB
,
KDOP
<
24
>
,
KDOP
<
18
>
,
KDOP
<
16
>
,
kIOS
,
OBBRSS
>
BVs_t
;
std
::
ofstream
ofs
(
"./
test_fcl_
collision.benchmark.csv"
,
std
::
ofstream
::
out
);
std
::
ofstream
ofs
(
"./collision.benchmark.csv"
,
std
::
ofstream
::
out
);
bench_stream
=
&
ofs
;
// without lower bound.
...
...
test/
test_fcl_
collision.py
→
test/collision.py
View file @
cdeb18c8
File moved
test/
test_fcl_
distance.cpp
→
test/distance.cpp
View file @
cdeb18c8
...
...
@@ -43,7 +43,7 @@
#include
<hpp/fcl/traversal/traversal_node_bvhs.h>
#include
<hpp/fcl/traversal/traversal_node_setup.h>
#include
<../src/collision_node.h>
#include
"
test_fcl_
utility.h"
#include
"utility.h"
#include
<boost/timer.hpp>
#include
"fcl_resources/config.h"
#include
<boost/filesystem.hpp>
...
...
test/
test_fcl_
distance_lower_bound.cpp
→
test/distance_lower_bound.cpp
View file @
cdeb18c8
...
...
@@ -45,7 +45,7 @@
#include
<hpp/fcl/narrowphase/narrowphase.h>
#include
<hpp/fcl/collision.h>
#include
<hpp/fcl/distance.h>
# include "
test_fcl_
utility.h"
# include "utility.h"
# include "fcl_resources/config.h"
using
hpp
::
fcl
::
Transform3f
;
...
...
test/
test_fcl_
distance_lower_bound.py
→
test/distance_lower_bound.py
View file @
cdeb18c8
File moved
test/
test_fcl_
eigen.cpp
→
test/eigen.cpp
View file @
cdeb18c8
File moved
test/
test_fcl_
frontlist.cpp
→
test/frontlist.cpp
View file @
cdeb18c8
...
...
@@ -44,7 +44,7 @@
#include
<hpp/fcl/traversal/traversal_node_bvhs.h>
#include
<hpp/fcl/traversal/traversal_node_setup.h>
#include
<../src/collision_node.h>
#include
"
test_fcl_
utility.h"
#include
"utility.h"
#include
"fcl_resources/config.h"
#include
<boost/filesystem.hpp>
...
...
test/
test_fcl_
geometric_shapes.cpp
→
test/geometric_shapes.cpp
View file @
cdeb18c8
...
...
@@ -44,7 +44,7 @@
#include
<hpp/fcl/narrowphase/narrowphase.h>
#include
<hpp/fcl/collision.h>
#include
<hpp/fcl/distance.h>
#include
"
test_fcl_
utility.h"
#include
"utility.h"
#include
<iostream>
using
namespace
hpp
::
fcl
;
...
...
@@ -266,7 +266,7 @@ template <typename Sa, typename Sb> void compareShapeDistance (
<<
resB
.
nearest_points
[
1
].
format
(
pyfmt
)
<<
'\n'
);
// TODO in one case, there is a mismatch between the distances and I cannot say
// which one is correct. To visualize the case, use script test/
test_fcl_
geometric_shapes.py
// which one is correct. To visualize the case, use script test/geometric_shapes.py
BOOST_WARN_CLOSE
(
resA
.
min_distance
,
resB
.
min_distance
,
tol
);
//BOOST_CHECK_CLOSE(resA.min_distance, resB.min_distance, tol);
...
...
test/
test_fcl_
geometric_shapes.py
→
test/geometric_shapes.py
View file @
cdeb18c8
File moved
test/gjk-geometric-tools-benchmark
View file @
cdeb18c8
Result after running
test_fcl_
gjk.cpp in Release mode.
Result after running gjk.cpp in Release mode.
nCol = 2831
nDiff = 41
...
...
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