Commit 988d5fca authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Update unit-test to hpp::fcl namespace.

parent ee15405f
......@@ -29,7 +29,7 @@ static bool verbose = true;
using namespace hpp::pinocchio;
void displayAABB(const fcl::AABB& aabb)
void displayAABB(const hpp::fcl::AABB& aabb)
{
std::cout << "Bounding box is\n"
<< aabb.min_.transpose() << '\n'
......@@ -43,17 +43,17 @@ BOOST_AUTO_TEST_CASE (computeAABB)
robot->rootJoint()->lowerBounds(vector3_t::Constant(-0));
robot->rootJoint()->upperBounds(vector3_t::Constant( 0));
fcl::AABB aabb0 = robot->computeAABB();
hpp::fcl::AABB aabb0 = robot->computeAABB();
if (verbose) displayAABB(aabb0);
robot->rootJoint()->lowerBounds(vector3_t(-1, -1, 0));
robot->rootJoint()->upperBounds(vector3_t( 1, 1, 0));
fcl::AABB aabb1 = robot->computeAABB();
hpp::fcl::AABB aabb1 = robot->computeAABB();
if (verbose) displayAABB(aabb1);
robot->rootJoint()->lowerBounds(vector3_t(-2, -2, 0));
robot->rootJoint()->upperBounds(vector3_t(-1, -1, 0));
fcl::AABB aabb2 = robot->computeAABB();
hpp::fcl::AABB aabb2 = robot->computeAABB();
if (verbose) displayAABB(aabb2);
}
/* -------------------------------------------------------------------------- */
......
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