add unit tests

tests/CMakeLists.txt

@@ -51,4 +51,6 @@ endmacro(add_testcase)
 # add_affordance_test(test-create-affordance test-main3.cc)
 
 add_testcase (test-operations FALSE)
-add_testcase (test-one-triangle FALSE)
+add_testcase (test-one-triangle1 FALSE)
+add_testcase (test-one-triangle2 FALSE)
+add_testcase (test-oriented-triangles FALSE)

tests/test-one-triangle.cc → tests/test-one-triangle1.cc

@@ -21,12 +21,12 @@
 #include <hpp/fcl/BVH/BVH_model.h>
 #include <hpp/fcl/shape/geometric_shape_to_BVH_model.h>
 
-#define BOOST_TEST_MODULE test-one-triangle
+#define BOOST_TEST_MODULE test-one-triangle1
 #include <boost/test/included/unit_test.hpp>
 
 BOOST_AUTO_TEST_SUITE (test_affordance)
 
-BOOST_AUTO_TEST_CASE (one_triangle)
+BOOST_AUTO_TEST_CASE (one_triangle1)
 {
 	hpp::affordance::SupportOperationPtr_t support (new hpp::affordance::SupportOperation());
   hpp::affordance::LeanOperationPtr_t lean (new hpp::affordance::LeanOperation(0.1));

tests/test-one-triangle2.cc

+// Copyright (C) 2016 LAAS-CNRS
+// Author: Anna Seppala 
+//
+// This file is part of the hpp-affordance.
+//
+// hpp-affordance is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// hpp-affordance is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with hpp-affordance.  If not, see <http://www.gnu.org/licenses/>.
+
+#include <hpp/affordance/affordance-extraction.hh>
+#include <hpp/affordance/operations.hh>
+#include <hpp/fcl/BVH/BVH_model.h>
+#include <hpp/fcl/shape/geometric_shape_to_BVH_model.h>
+
+#define BOOST_TEST_MODULE test-one-triangle2
+#include <boost/test/included/unit_test.hpp>
+
+BOOST_AUTO_TEST_SUITE (test_affordance)
+
+BOOST_AUTO_TEST_CASE (one_triangle2)
+{
+	hpp::affordance::SupportOperationPtr_t support (new hpp::affordance::SupportOperation());
+  hpp::affordance::LeanOperationPtr_t lean (new hpp::affordance::LeanOperation(0.1));
+
+  std::vector <hpp::affordance::OperationBasePtr_t> operations;
+  operations.push_back(support);
+  operations.push_back(lean);
+
+	std::vector<fcl::Vec3f> vertices;
+  std::vector<fcl::Triangle> triangles;
+
+  typedef fcl::BVHModel<fcl::OBBRSS> Model;
+  boost::shared_ptr<Model> model (new Model ());
+
+  fcl::Vec3f vert1 (-1,0,0);
+  fcl::Vec3f vert2 (1,0,1);
+  fcl::Vec3f vert3 (1,0,-1);
+	vertices.push_back (vert1);
+	vertices.push_back (vert2);
+	vertices.push_back (vert3);
+
+	fcl::Triangle tri (0,1,2);
+	triangles.push_back (tri); 
+
+  fcl::Matrix3f R;
+  fcl::Quaternion3f quat (1,0,0,0);
+	quat.toRotation(R);
+  fcl::Vec3f T (0,0,0);
+
+  fcl::Transform3f pose (R, T);
+
+	model->beginModel ();
+	model->addSubModel (vertices, triangles);
+	model->endModel ();
+
+  boost::shared_ptr <fcl::CollisionObject> obj (new fcl::CollisionObject(model, pose));
+
+  hpp::affordance::SemanticsDataPtr_t h = hpp::affordance::affordanceAnalysis (obj, operations);
+
+	BOOST_CHECK_MESSAGE (h->affordances_.size() == 2, 
+		"strictly two affordance types should exist.");
+
+	BOOST_CHECK_MESSAGE (h->affordances_[1].size() == 1, 
+		"strictly one lean affordance should have been found.");
+
+	BOOST_CHECK_MESSAGE (h->affordances_[0].size() == 0, 
+		"no support affordance should have been found at this point.");
+
+}
+BOOST_AUTO_TEST_SUITE_END ()

tests/test-oriented-triangles.cc

+// Copyright (C) 2016 LAAS-CNRS
+// Author: Anna Seppala 
+//
+// This file is part of the hpp-affordance.
+//
+// hpp-affordance is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// hpp-affordance is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with hpp-affordance.  If not, see <http://www.gnu.org/licenses/>.
+
+#include <hpp/affordance/affordance-extraction.hh>
+#include <hpp/affordance/operations.hh>
+#include <hpp/fcl/BVH/BVH_model.h>
+#include <hpp/fcl/shape/geometric_shape_to_BVH_model.h>
+
+#define BOOST_TEST_MODULE test-oriented-triangles
+#include <boost/test/included/unit_test.hpp>
+
+BOOST_AUTO_TEST_SUITE (test_affordance)
+
+BOOST_AUTO_TEST_CASE (oriented_triangles)
+{
+	hpp::affordance::SupportOperationPtr_t support (new hpp::affordance::SupportOperation());
+  hpp::affordance::LeanOperationPtr_t lean (new hpp::affordance::LeanOperation(0.1));
+
+  std::vector <hpp::affordance::OperationBasePtr_t> operations;
+  operations.push_back(support);
+  operations.push_back(lean);
+
+	std::vector<fcl::Vec3f> vertices;
+  std::vector<fcl::Triangle> triangles;
+
+  typedef fcl::BVHModel<fcl::OBBRSS> Model;
+
+  fcl::Vec3f vert1 (-1,0,0);
+  fcl::Vec3f vert2 (1,0,1);
+  fcl::Vec3f vert3 (1,0,-1);
+	vertices.push_back (vert1);
+	vertices.push_back (vert2);
+	vertices.push_back (vert3);
+
+	int size_ = 7;
+	int affFound = 0;
+  int affNotFound = 0;
+	fcl::Vec3f T (0,0,0);
+	fcl::Vec3f axis (1,0,0);
+	fcl::Matrix3f R;
+
+	for (unsigned int i = 0; i < size_; ++i) {
+	  boost::shared_ptr<Model> model (new Model ());
+		fcl::Triangle tri (0,1,2);
+		triangles.push_back (tri); 
+	
+		fcl::Quaternion3f quat;
+		quat.fromAxisAngle(axis,3.1416*float(i)/180.0);
+		quat.toRotation(R);
+	
+	  fcl::Transform3f pose (R, T);
+	
+		model->beginModel ();
+		model->addSubModel (vertices, triangles);
+		model->endModel ();
+	
+	  boost::shared_ptr <fcl::CollisionObject> obj (new fcl::CollisionObject(model, pose));
+	
+	  hpp::affordance::SemanticsDataPtr_t h = hpp::affordance::affordanceAnalysis (obj, operations);
+
+		if (h->affordances_[1].size() == 1 && h->affordances_[0].size() == 0) {
+			affFound += 1;
+		} else {
+			affNotFound += 1;
+		}
+}
+	BOOST_CHECK_MESSAGE (affFound == 6 && affNotFound == 1, 
+		"Strictly six affordances should have been found and one rejected. Now "<< affFound << 
+		"were found and "<< affNotFound << " rejected.");
+}
+BOOST_AUTO_TEST_SUITE_END ()