Commit 1aafea2a authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Remove sampling

parent 762d643b
......@@ -138,7 +138,6 @@ SET(${PROJECT_NAME}_HEADERS
include/hpp/fcl/math/matrix_3fx.h
include/hpp/fcl/math/vec_3f.h
include/hpp/fcl/math/vec_3fx.h
include/hpp/fcl/math/sampling.h
include/hpp/fcl/math/math_details.h
include/hpp/fcl/math/transform.h
include/hpp/fcl/traversal/traversal_node_shapes.h
......
......@@ -72,7 +72,6 @@ set(${LIBRARY_NAME}_SOURCES
distance_capsule_capsule.cpp
intersect.cpp
math/transform.cpp
math/sampling.cpp
traversal/traversal_node_setup.cpp
traversal/traversal_node_bvhs.cpp
traversal/traversal_recurse.cpp
......
......@@ -34,77 +34,6 @@ double distance_Vecnf(const Vecnf<N>& a, const Vecnf<N>& b)
return d;
}
BOOST_AUTO_TEST_CASE(knn_test)
{
NearestNeighborsGNAT<Vecnf<6> > knn;
knn.setDistanceFunction(distance_Vecnf<6>);
SamplerSE3Euler sampler(Vec3f(-1, -1, -1), Vec3f(1, 1, 1));
std::vector<Vecnf<6> > data;
for(std::size_t i = 0; i < 1000; ++i)
data.push_back(sampler.sample());
knn.add(data);
int K = 10;
for(std::size_t i = 0; i < data.size(); ++i)
{
std::vector<Vecnf<6> > nbh;
knn.nearestK(data[i], K, nbh);
for(std::size_t j = 0; j < nbh.size(); ++j)
std::cout << distance_Vecnf<6>(nbh[j], data[i]) << " ";
std::cout << std::endl;
}
}
BOOST_AUTO_TEST_CASE(Vec_nf_test)
{
Vecnf<4> a;
Vecnf<4> b;
for(std::size_t i = 0; i < a.dim(); ++i)
a[i] = i;
for(std::size_t i = 0; i < b.dim(); ++i)
b[i] = 1;
std::cout << a << std::endl;
std::cout << b << std::endl;
std::cout << a + b << std::endl;
std::cout << a - b << std::endl;
std::cout << (a -= b) << std::endl;
std::cout << (a += b) << std::endl;
std::cout << a * 2 << std::endl;
std::cout << a / 2 << std::endl;
std::cout << (a *= 2) << std::endl;
std::cout << (a /= 2) << std::endl;
std::cout << a.dot(b) << std::endl;
Vecnf<8> c = combine(a, b);
std::cout << c << std::endl;
Vecnf<4> upper, lower;
for(int i = 0; i < 4; ++i)
upper[i] = 1;
Vecnf<4> aa(boost::assign::list_of<FCL_REAL>(1)(2).convert_to_container<std::vector<FCL_REAL> >());
std::cout << aa << std::endl;
SamplerR<4> sampler(lower, upper);
for(std::size_t i = 0; i < 10; ++i)
std::cout << sampler.sample() << std::endl;
// Disabled broken test lines. Please see #25.
// SamplerSE2 sampler2(0, 1, -1, 1);
// for(std::size_t i = 0; i < 10; ++i)
// std::cout << sampler2.sample() << std::endl;
SamplerSE3Euler sampler3(Vec3f(0, 0, 0), Vec3f(1, 1, 1));
for(std::size_t i = 0; i < 10; ++i)
std::cout << sampler3.sample() << std::endl;
}
BOOST_AUTO_TEST_CASE(projection_test_line)
{
Vec3f v1(0, 0, 0);
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment