Commit cdeb18c8 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Remove prefix test_fcl_ from the unit-tests.

parent cf879918
......@@ -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})
......@@ -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>
......
Result after running test_fcl_gjk in Release mode.
Result after running gjk in Release mode.
nCol = 2840
nDiff = 0
......
......@@ -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;
......
......@@ -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>
......
......@@ -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;
......
......@@ -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)
{
......
......@@ -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>
......
......@@ -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;
......
......@@ -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.
......
......@@ -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>
......
......@@ -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;
......
......@@ -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>
......
......@@ -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);
......
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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