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Guilhem Saurel
hpp-fcl
Commits
e28c8771
Commit
e28c8771
authored
Jul 28, 2017
by
Joseph Mirabel
Committed by
Joseph Mirabel
Jul 28, 2017
Browse files
Fix unit test that fails.
parent
0b183d7b
Changes
1
Hide whitespace changes
Inline
Side-by-side
test/test_fcl_geometric_shapes.cpp
View file @
e28c8771
...
...
@@ -72,14 +72,14 @@ void printComparisonError(const std::string& comparison_type,
<<
getNodeTypeName
(
s2
.
getNodeType
())
<<
" with '"
<<
getGJKSolverName
(
solver_type
)
<<
"' solver."
<<
std
::
endl
<<
"tf1.quaternion: "
<<
tf1
.
getQuatRotation
()
<<
std
::
endl
<<
"tf1.translation: "
<<
tf1
.
getTranslation
()
<<
std
::
endl
<<
"tf1.translation: "
<<
tf1
.
getTranslation
()
.
transpose
()
<<
std
::
endl
<<
"tf2.quaternion: "
<<
tf2
.
getQuatRotation
()
<<
std
::
endl
<<
"tf2.translation: "
<<
tf2
.
getTranslation
()
<<
std
::
endl
<<
comparison_type
<<
": "
<<
contact_or_normal
<<
std
::
endl
<<
"expected_"
<<
comparison_type
<<
": "
<<
expected_contact_or_normal
;
<<
"tf2.translation: "
<<
tf2
.
getTranslation
()
.
transpose
()
<<
std
::
endl
<<
comparison_type
<<
": "
<<
contact_or_normal
.
transpose
()
<<
std
::
endl
<<
"expected_"
<<
comparison_type
<<
": "
<<
expected_contact_or_normal
.
transpose
()
;
if
(
check_opposite_normal
)
std
::
cout
<<
" or "
<<
-
expected_contact_or_normal
;
std
::
cout
<<
" or "
<<
-
expected_contact_or_normal
.
transpose
()
;
std
::
cout
<<
std
::
endl
<<
"difference: "
<<
(
contact_or_normal
-
expected_contact_or_normal
).
norm
()
<<
std
::
endl
...
...
@@ -505,8 +505,8 @@ BOOST_AUTO_TEST_CASE(shapeIntersection_spherecapsule)
BOOST_AUTO_TEST_CASE
(
shapeIntersection_cylindercylinder
)
{
Cylinder
s1
(
5
,
1
0
);
Cylinder
s2
(
5
,
1
0
);
Cylinder
s1
(
5
,
1
5
);
Cylinder
s2
(
5
,
1
5
);
Transform3f
tf1
;
Transform3f
tf2
;
...
...
@@ -528,6 +528,11 @@ BOOST_AUTO_TEST_CASE(shapeIntersection_cylindercylinder)
// TODO: Need convention for normal when the centers of two objects are at same position.
testShapeInersection
(
s1
,
tf1
,
s2
,
tf2
,
GST_INDEP
,
true
,
NULL
,
NULL
,
NULL
);
tf1
=
Transform3f
();
tf2
=
Transform3f
(
Vec3f
(
0
,
9.9
,
0
));
normal
<<
0
,
1
,
0
;
testShapeInersection
(
s1
,
tf1
,
s2
,
tf2
,
GST_INDEP
,
true
,
NULL
,
NULL
,
&
normal
,
false
,
tol_gjk
);
tf1
=
Transform3f
();
tf2
=
Transform3f
(
Vec3f
(
9.9
,
0
,
0
));
normal
<<
1
,
0
,
0
;
...
...
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