Add a test for distance computation between boxes.

test/CMakeLists.txt

@@ -32,6 +32,7 @@ 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)
+add_fcl_test(test_fcl_box_box_distance test_fcl_box_box_distance.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)
 add_fcl_test(test_fcl_capsule_box_2 test_fcl_capsule_box_2.cpp)

test/test_fcl_box_box_distance.cpp

+/*
+ *  Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2014, CNRS.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/** \author Florent Lamiraux <florent@laas.fr> */
+
+#define BOOST_TEST_MODULE "FCL_BOX_BOX"
+#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
+
+#include <boost/test/unit_test.hpp>
+
+#include <cmath>
+#include <fcl/distance.h>
+#include <fcl/math/transform.h>
+#include <fcl/collision.h>
+#include <fcl/collision_object.h>
+#include <fcl/shape/geometric_shapes.h>
+
+using namespace fcl;
+typedef boost::shared_ptr <CollisionGeometry> CollisionGeometryPtr_t;
+
+BOOST_AUTO_TEST_CASE(distance_box_box_1)
+{
+  CollisionGeometryPtr_t s1 (new Box (6, 10, 2));
+  CollisionGeometryPtr_t s2 (new Box (2, 2, 2));
+
+  Transform3f tf1;
+  Transform3f tf2 (Vec3f(25, 20, 5));
+
+  CollisionObject o1 (s1, tf1);
+  CollisionObject o2 (s2, tf2);
+
+  // Enable computation of nearest points
+  DistanceRequest distanceRequest (true);
+  DistanceResult distanceResult;
+
+  distance (&o1, &o2, distanceRequest, distanceResult);
+
+  std::cerr << "Applied translation on two boxes";
+  std::cerr << " T1 = " << tf1.getTranslation()
+	    << ", T2 = " << tf2.getTranslation() << std::endl;
+  std::cerr << "Closest points: p1 = " << distanceResult.nearest_points [0]
+	    << ", p2 = " << distanceResult.nearest_points [1]
+	    << ", distance = " << distanceResult.min_distance << std::endl;
+  double dx = 25 - 3 - 1;
+  double dy = 20 - 5 - 1;
+  double dz = 5 - 1 - 1;
+
+  const Vec3f& p1 = distanceResult.nearest_points [0];
+  const Vec3f& p2 = distanceResult.nearest_points [1];
+  BOOST_CHECK_CLOSE(distanceResult.min_distance, 
+		    sqrt (dx*dx + dy*dy + dz*dz), 1e-4);
+
+  BOOST_CHECK_CLOSE (p1 [0], 3, 1e-6);
+  BOOST_CHECK_CLOSE (p1 [1], 5, 1e-6);
+  BOOST_CHECK_CLOSE (p1 [2], 1, 1e-6);
+  BOOST_CHECK_CLOSE (p2 [0], 24, 1e-6);
+  BOOST_CHECK_CLOSE (p2 [1], 19, 1e-6);
+  BOOST_CHECK_CLOSE (p2 [2], 4, 1e-6);
+}
+
+#if 0
+BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformXY)
+{
+  CollisionGeometryPtr_t s1 (new Capsule (5, 10));
+  CollisionGeometryPtr_t s2 (new Capsule (5, 10));
+
+  Transform3f tf1;
+  Transform3f tf2 (Vec3f(20, 20,0));
+
+  CollisionObject o1 (s1, tf1);
+  CollisionObject o2 (s2, tf2);
+
+  // Enable computation of nearest points
+  DistanceRequest distanceRequest (true);
+  DistanceResult distanceResult;
+
+  distance (&o1, &o2, distanceRequest, distanceResult);
+
+  std::cerr << "Applied translation on two capsules";
+  std::cerr << " T1 = " << tf1.getTranslation()
+	    << ", T2 = " << tf2.getTranslation() << std::endl;
+  std::cerr << "Closest points: p1 = " << distanceResult.nearest_points [0]
+	    << ", p2 = " << distanceResult.nearest_points [1]
+	    << ", distance = " << distanceResult.min_distance << std::endl;
+
+  FCL_REAL expected = sqrt(800) - 10;
+  BOOST_CHECK_CLOSE(distanceResult.min_distance, expected, 1e-6);
+}
+
+BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformZ)
+{
+  CollisionGeometryPtr_t s1 (new Capsule (5, 10));
+  CollisionGeometryPtr_t s2 (new Capsule (5, 10));
+
+  Transform3f tf1;
+  Transform3f tf2 (Vec3f(0,0,20.1));
+
+  CollisionObject o1 (s1, tf1);
+  CollisionObject o2 (s2, tf2);
+
+  // Enable computation of nearest points
+  DistanceRequest distanceRequest (true);
+  DistanceResult distanceResult;
+
+  distance (&o1, &o2, distanceRequest, distanceResult);
+
+  std::cerr << "Applied translation on two capsules";
+  std::cerr << " T1 = " << tf1.getTranslation()
+	    << ", T2 = " << tf2.getTranslation() << std::endl;
+  std::cerr << "Closest points: p1 = " << distanceResult.nearest_points [0]
+	    << ", p2 = " << distanceResult.nearest_points [1]
+	    << ", distance = " << distanceResult.min_distance << std::endl;
+
+  BOOST_CHECK_CLOSE(distanceResult.min_distance, 0.1, 1e-6);
+}
+
+
+BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformZ2)
+{
+  CollisionGeometryPtr_t s1 (new Capsule (5, 10));
+  CollisionGeometryPtr_t s2 (new Capsule (5, 10));
+
+  Transform3f tf1;
+  Transform3f tf2 (Quaternion3f (sqrt (2)/2, 0, sqrt (2)/2, 0),
+		   Vec3f(0,0,25.1));
+
+  CollisionObject o1 (s1, tf1);
+  CollisionObject o2 (s2, tf2);
+
+  // Enable computation of nearest points
+  DistanceRequest distanceRequest (true);
+  DistanceResult distanceResult;
+
+  distance (&o1, &o2, distanceRequest, distanceResult);
+
+  std::cerr << "Applied rotation and translation on two capsules" << std::endl;
+  std::cerr << "R1 = " << tf1.getRotation ()
+	    << ", T1 = " << tf1.getTranslation() << std::endl
+	    << "R2 = " << tf2.getRotation ()
+	    << ", T2 = " << tf2.getTranslation() << std::endl;
+  std::cerr << "Closest points: p1 = " << distanceResult.nearest_points [0]
+	    << ", p2 = " << distanceResult.nearest_points [1]
+	    << ", distance = " << distanceResult.min_distance << std::endl;
+
+  const Vec3f& p1 = distanceResult.nearest_points [0];
+  const Vec3f& p2 = distanceResult.nearest_points [1];
+
+  BOOST_CHECK_CLOSE(distanceResult.min_distance, 10.1, 1e-6);
+  CHECK_CLOSE_TO_0 (p1 [0], 1e-4);
+  CHECK_CLOSE_TO_0 (p1 [1], 1e-4);
+  BOOST_CHECK_CLOSE (p1 [2], 10, 1e-4);
+  CHECK_CLOSE_TO_0 (p2 [0], 1e-4);
+  CHECK_CLOSE_TO_0 (p2 [1], 1e-4);
+  BOOST_CHECK_CLOSE (p2 [2], 20.1, 1e-4);
+}
+#endif