Skip to content

Commit

Permalink
Improve geometry code coverage
Browse files Browse the repository at this point in the history
  • Loading branch information
@Levi-Armstrong
Levi-Armstrong committed Apr 9, 2023
1 parent 15bb7cb commit bce5eb8
Show file tree
Hide file tree
Showing 2 changed files with 91 additions and 0 deletions.
32 changes: 32 additions & 0 deletions tesseract_geometry/src/utils.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -93,6 +93,38 @@ bool isIdentical(const Geometry& geom1, const Geometry& geom2)

break;
}
case GeometryType::CAPSULE:
{
const auto& s1 = static_cast<const Capsule&>(geom1);
const auto& s2 = static_cast<const Capsule&>(geom2);

if (std::abs(s1.getRadius() - s2.getRadius()) > std::numeric_limits<double>::epsilon())
return false;

if (std::abs(s1.getLength() - s2.getLength()) > std::numeric_limits<double>::epsilon())
return false;

break;
}
case GeometryType::PLANE:
{
const auto& s1 = static_cast<const Plane&>(geom1);
const auto& s2 = static_cast<const Plane&>(geom2);

if (std::abs(s1.getA() - s2.getA()) > std::numeric_limits<double>::epsilon())
return false;

if (std::abs(s1.getB() - s2.getB()) > std::numeric_limits<double>::epsilon())
return false;

if (std::abs(s1.getC() - s2.getC()) > std::numeric_limits<double>::epsilon())
return false;

if (std::abs(s1.getD() - s2.getD()) > std::numeric_limits<double>::epsilon())
return false;

break;
}
case GeometryType::MESH:
{
const auto& s1 = static_cast<const Mesh&>(geom1);
Expand Down
59 changes: 59 additions & 0 deletions tesseract_geometry/test/tesseract_geometry_unit.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP

#include <tesseract_geometry/geometries.h>
#include <tesseract_geometry/mesh_parser.h>
#include <tesseract_geometry/utils.h>

TEST(TesseractGeometryUnit, Instantiation) // NOLINT
{
Expand Down Expand Up @@ -57,6 +58,12 @@ TEST(TesseractGeometryUnit, Box) // NOLINT
EXPECT_NEAR(std::static_pointer_cast<T>(geom_clone)->getX(), 1, 1e-5);
EXPECT_NEAR(std::static_pointer_cast<T>(geom_clone)->getY(), 1, 1e-5);
EXPECT_NEAR(std::static_pointer_cast<T>(geom_clone)->getZ(), 1, 1e-5);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
EXPECT_FALSE(tesseract_geometry::isIdentical(*geom, tesseract_geometry::Box(2, 1, 1)));
EXPECT_FALSE(tesseract_geometry::isIdentical(*geom, tesseract_geometry::Box(1, 2, 1)));
EXPECT_FALSE(tesseract_geometry::isIdentical(*geom, tesseract_geometry::Box(1, 1, 2)));
}

TEST(TesseractGeometryUnit, Cone) // NOLINT
Expand All @@ -69,6 +76,11 @@ TEST(TesseractGeometryUnit, Cone) // NOLINT
auto geom_clone = geom->clone();
EXPECT_NEAR(std::static_pointer_cast<T>(geom_clone)->getRadius(), 1, 1e-5);
EXPECT_NEAR(std::static_pointer_cast<T>(geom_clone)->getLength(), 1, 1e-5);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
EXPECT_FALSE(tesseract_geometry::isIdentical(*geom, tesseract_geometry::Cone(2, 1)));
EXPECT_FALSE(tesseract_geometry::isIdentical(*geom, tesseract_geometry::Cone(1, 2)));
}

TEST(TesseractGeometryUnit, Cylinder) // NOLINT
Expand All @@ -81,6 +93,11 @@ TEST(TesseractGeometryUnit, Cylinder) // NOLINT
auto geom_clone = geom->clone();
EXPECT_NEAR(std::static_pointer_cast<T>(geom_clone)->getRadius(), 1, 1e-5);
EXPECT_NEAR(std::static_pointer_cast<T>(geom_clone)->getLength(), 1, 1e-5);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
EXPECT_FALSE(tesseract_geometry::isIdentical(*geom, tesseract_geometry::Cylinder(2, 1)));
EXPECT_FALSE(tesseract_geometry::isIdentical(*geom, tesseract_geometry::Cylinder(1, 2)));
}

TEST(TesseractGeometryUnit, Capsule) // NOLINT
Expand All @@ -93,6 +110,11 @@ TEST(TesseractGeometryUnit, Capsule) // NOLINT
auto geom_clone = geom->clone();
EXPECT_NEAR(std::static_pointer_cast<T>(geom_clone)->getRadius(), 1, 1e-5);
EXPECT_NEAR(std::static_pointer_cast<T>(geom_clone)->getLength(), 1, 1e-5);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
EXPECT_FALSE(tesseract_geometry::isIdentical(*geom, tesseract_geometry::Capsule(2, 1)));
EXPECT_FALSE(tesseract_geometry::isIdentical(*geom, tesseract_geometry::Capsule(1, 2)));
}

TEST(TesseractGeometryUnit, Sphere) // NOLINT
Expand All @@ -103,6 +125,10 @@ TEST(TesseractGeometryUnit, Sphere) // NOLINT

auto geom_clone = geom->clone();
EXPECT_NEAR(std::static_pointer_cast<T>(geom_clone)->getRadius(), 1, 1e-5);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
EXPECT_FALSE(tesseract_geometry::isIdentical(*geom, tesseract_geometry::Sphere(2)));
}

TEST(TesseractGeometryUnit, Plane) // NOLINT
Expand All @@ -119,6 +145,13 @@ TEST(TesseractGeometryUnit, Plane) // NOLINT
EXPECT_NEAR(std::static_pointer_cast<T>(geom_clone)->getB(), 1, 1e-5);
EXPECT_NEAR(std::static_pointer_cast<T>(geom_clone)->getC(), 1, 1e-5);
EXPECT_NEAR(std::static_pointer_cast<T>(geom_clone)->getD(), 1, 1e-5);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
EXPECT_FALSE(tesseract_geometry::isIdentical(*geom, tesseract_geometry::Plane(2, 1, 1, 1)));
EXPECT_FALSE(tesseract_geometry::isIdentical(*geom, tesseract_geometry::Plane(1, 2, 1, 1)));
EXPECT_FALSE(tesseract_geometry::isIdentical(*geom, tesseract_geometry::Plane(1, 1, 2, 1)));
EXPECT_FALSE(tesseract_geometry::isIdentical(*geom, tesseract_geometry::Plane(1, 1, 1, 2)));
}

TEST(TesseractGeometryUnit, PolygonMesh) // NOLINT
Expand Down Expand Up @@ -149,6 +182,13 @@ TEST(TesseractGeometryUnit, PolygonMesh) // NOLINT
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getFaces() != nullptr);
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getVertexCount() == 4);
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getFaceCount() == 1);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
EXPECT_FALSE(tesseract_geometry::isIdentical(
*geom,
tesseract_geometry::PolygonMesh(std::make_shared<tesseract_common::VectorVector3d>(),
std::make_shared<Eigen::VectorXi>())));
}

TEST(TesseractGeometryUnit, ConvexMesh) // NOLINT
Expand Down Expand Up @@ -179,6 +219,13 @@ TEST(TesseractGeometryUnit, ConvexMesh) // NOLINT
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getFaces() != nullptr);
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getVertexCount() == 4);
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getFaceCount() == 1);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
EXPECT_FALSE(tesseract_geometry::isIdentical(
*geom,
tesseract_geometry::ConvexMesh(std::make_shared<tesseract_common::VectorVector3d>(),
std::make_shared<Eigen::VectorXi>())));
}

TEST(TesseractGeometryUnit, Mesh) // NOLINT
Expand Down Expand Up @@ -217,6 +264,9 @@ TEST(TesseractGeometryUnit, Mesh) // NOLINT
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getVertexCount() == 4);
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getFaceCount() == 2);
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getMaterial() == nullptr);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
}

{
Expand All @@ -234,6 +284,9 @@ TEST(TesseractGeometryUnit, Mesh) // NOLINT
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getVertexCount() == 4);
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getFaceCount() == 2);
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getMaterial() != nullptr);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
}
}

Expand Down Expand Up @@ -269,6 +322,9 @@ TEST(TesseractGeometryUnit, SDFMesh) // NOLINT
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getFaces() != nullptr);
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getVertexCount() == 4);
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getFaceCount() == 2);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
}

TEST(TesseractGeometryUnit, Octree) // NOLINT
Expand Down Expand Up @@ -296,6 +352,9 @@ TEST(TesseractGeometryUnit, Octree) // NOLINT
auto geom_clone = geom->clone();
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getOctree() != nullptr);
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getSubType() == tesseract_geometry::Octree::SubType::BOX);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
}

TEST(TesseractGeometryUnit, LoadMeshUnit) // NOLINT
Expand Down

0 comments on commit bce5eb8

Please sign in to comment.