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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	test/box_box_collision.cpp	Lines:	21	21	100.0 %
Date:	2024-02-09 12:57:42	Branches:	72	144	50.0 %


#define BOOST_TEST_MODULE BOX_BOX_COLLISION
#include <boost/test/included/unit_test.hpp>

#include <Eigen/Geometry>
#include <hpp/fcl/narrowphase/narrowphase.h>
#include <hpp/fcl/shape/geometric_shapes.h>
#include <hpp/fcl/internal/tools.h>

#include "utility.h"

using hpp::fcl::Box;
using hpp::fcl::collide;
using hpp::fcl::CollisionRequest;
using hpp::fcl::CollisionResult;
using hpp::fcl::ComputeCollision;
using hpp::fcl::FCL_REAL;
using hpp::fcl::Transform3f;
using hpp::fcl::Vec3f;

BOOST_AUTO_TEST_CASE(box_box_collision) {
  // Define boxes
  Box shape1(1, 1, 1);
  Box shape2(1, 1, 1);

  // Define transforms
  Transform3f T1 = Transform3f::Identity();
  Transform3f T2 = Transform3f::Identity();

  // Compute collision
  CollisionRequest req;
  req.enable_cached_gjk_guess = true;
  req.distance_upper_bound = 1e-6;
  CollisionResult res;
  ComputeCollision collide_functor(&shape1, &shape2);

  T1.setTranslation(Vec3f(0, 0, 0));
  res.clear();
  BOOST_CHECK(collide(&shape1, T1, &shape2, T2, req, res) == true);
  res.clear();
  BOOST_CHECK(collide_functor(T1, T2, req, res) == true);

  T1.setTranslation(Vec3f(2, 0, 0));
  res.clear();
  BOOST_CHECK(collide(&shape1, T1, &shape2, T2, req, res) == false);
  res.clear();
  BOOST_CHECK(collide_functor(T1, T2, req, res) == false);
}


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			#define BOOST_TEST_MODULE BOX_BOX_COLLISION
2			#include <boost/test/included/unit_test.hpp>
3
4			#include <Eigen/Geometry>
5			#include <hpp/fcl/narrowphase/narrowphase.h>
6			#include <hpp/fcl/shape/geometric_shapes.h>
7			#include <hpp/fcl/internal/tools.h>
8
9			#include "utility.h"
10
11			using hpp::fcl::Box;
12			using hpp::fcl::collide;
13			using hpp::fcl::CollisionRequest;
14			using hpp::fcl::CollisionResult;
15			using hpp::fcl::ComputeCollision;
16			using hpp::fcl::FCL_REAL;
17			using hpp::fcl::Transform3f;
18			using hpp::fcl::Vec3f;
19
20	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(box_box_collision) {
21			// Define boxes
22	✓✗	4	Box shape1(1, 1, 1);
23	✓✗	4	Box shape2(1, 1, 1);
24
25			// Define transforms
26	✓✗	2	Transform3f T1 = Transform3f::Identity();
27	✓✗	2	Transform3f T2 = Transform3f::Identity();
28
29			// Compute collision
30	✓✗	2	CollisionRequest req;
31		2	req.enable_cached_gjk_guess = true;
32		2	req.distance_upper_bound = 1e-6;
33	✓✗	4	CollisionResult res;
34	✓✗	4	ComputeCollision collide_functor(&shape1, &shape2);
35
36	✓✗✓✗	2	T1.setTranslation(Vec3f(0, 0, 0));
37		2	res.clear();
38	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(collide(&shape1, T1, &shape2, T2, req, res) == true);
39		2	res.clear();
40	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(collide_functor(T1, T2, req, res) == true);
41
42	✓✗✓✗	2	T1.setTranslation(Vec3f(2, 0, 0));
43		2	res.clear();
44	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(collide(&shape1, T1, &shape2, T2, req, res) == false);
45		2	res.clear();
46	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(collide_functor(T1, T2, req, res) == false);
47		2	}