Skip to content

Commit

Permalink
Fix polygon_mesh default geometry type in constructor
Browse files Browse the repository at this point in the history
  • Loading branch information
@Levi-Armstrong
Levi-Armstrong committed Apr 11, 2023
1 parent 91d3006 commit ebed80b
Show file tree
Hide file tree
Showing 2 changed files with 39 additions and 2 deletions.
4 changes: 2 additions & 2 deletions tesseract_geometry/include/tesseract_geometry/impl/polygon_mesh.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,7 @@ class PolygonMesh : public Geometry
std::shared_ptr<const tesseract_common::VectorVector4d> vertex_colors = nullptr,
MeshMaterial::Ptr mesh_material = nullptr,
std::shared_ptr<const std::vector<MeshTexture::Ptr>> mesh_textures = nullptr,
GeometryType type = GeometryType::CONVEX_MESH)
GeometryType type = GeometryType::POLYGON_MESH)
: Geometry(type)
, vertices_(std::move(vertices))
, faces_(std::move(faces))
Expand Down Expand Up @@ -121,7 +121,7 @@ class PolygonMesh : public Geometry
std::shared_ptr<const tesseract_common::VectorVector4d> vertex_colors = nullptr,
MeshMaterial::Ptr mesh_material = nullptr,
std::shared_ptr<const std::vector<MeshTexture::Ptr>> mesh_textures = nullptr,
GeometryType type = GeometryType::CONVEX_MESH)
GeometryType type = GeometryType::POLYGON_MESH)
: Geometry(type)
, vertices_(std::move(vertices))
, faces_(std::move(faces))
Expand Down
37 changes: 37 additions & 0 deletions tesseract_geometry/test/tesseract_geometry_unit.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -53,17 +53,20 @@ TEST(TesseractGeometryUnit, Box) // NOLINT
EXPECT_NEAR(geom->getX(), 1, 1e-5);
EXPECT_NEAR(geom->getY(), 1, 1e-5);
EXPECT_NEAR(geom->getZ(), 1, 1e-5);
EXPECT_EQ(geom->getType(), tesseract_geometry::GeometryType::BOX);

auto geom_clone = geom->clone();
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);
EXPECT_EQ(geom_clone->getType(), tesseract_geometry::GeometryType::BOX);

// 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)));
EXPECT_FALSE(tesseract_geometry::isIdentical(*geom, tesseract_geometry::Cone(1, 1)));
}

TEST(TesseractGeometryUnit, Cone) // NOLINT
Expand All @@ -72,10 +75,12 @@ TEST(TesseractGeometryUnit, Cone) // NOLINT
auto geom = std::make_shared<T>(1, 1);
EXPECT_NEAR(geom->getRadius(), 1, 1e-5);
EXPECT_NEAR(geom->getLength(), 1, 1e-5);
EXPECT_EQ(geom->getType(), tesseract_geometry::GeometryType::CONE);

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);
EXPECT_EQ(geom_clone->getType(), tesseract_geometry::GeometryType::CONE);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
Expand All @@ -89,10 +94,12 @@ TEST(TesseractGeometryUnit, Cylinder) // NOLINT
auto geom = std::make_shared<T>(1, 1);
EXPECT_NEAR(geom->getRadius(), 1, 1e-5);
EXPECT_NEAR(geom->getLength(), 1, 1e-5);
EXPECT_EQ(geom->getType(), tesseract_geometry::GeometryType::CYLINDER);

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);
EXPECT_EQ(geom_clone->getType(), tesseract_geometry::GeometryType::CYLINDER);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
Expand All @@ -106,10 +113,12 @@ TEST(TesseractGeometryUnit, Capsule) // NOLINT
auto geom = std::make_shared<T>(1, 1);
EXPECT_NEAR(geom->getRadius(), 1, 1e-5);
EXPECT_NEAR(geom->getLength(), 1, 1e-5);
EXPECT_EQ(geom->getType(), tesseract_geometry::GeometryType::CAPSULE);

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);
EXPECT_EQ(geom_clone->getType(), tesseract_geometry::GeometryType::CAPSULE);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
Expand All @@ -122,9 +131,11 @@ TEST(TesseractGeometryUnit, Sphere) // NOLINT
using T = tesseract_geometry::Sphere;
auto geom = std::make_shared<T>(1);
EXPECT_NEAR(geom->getRadius(), 1, 1e-5);
EXPECT_EQ(geom->getType(), tesseract_geometry::GeometryType::SPHERE);

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

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
Expand All @@ -139,12 +150,14 @@ TEST(TesseractGeometryUnit, Plane) // NOLINT
EXPECT_NEAR(geom->getB(), 1, 1e-5);
EXPECT_NEAR(geom->getC(), 1, 1e-5);
EXPECT_NEAR(geom->getD(), 1, 1e-5);
EXPECT_EQ(geom->getType(), tesseract_geometry::GeometryType::PLANE);

auto geom_clone = geom->clone();
EXPECT_NEAR(std::static_pointer_cast<T>(geom_clone)->getA(), 1, 1e-5);
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);
EXPECT_EQ(geom_clone->getType(), tesseract_geometry::GeometryType::PLANE);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
Expand Down Expand Up @@ -176,12 +189,14 @@ TEST(TesseractGeometryUnit, PolygonMesh) // NOLINT
EXPECT_TRUE(geom->getFaces() != nullptr);
EXPECT_TRUE(geom->getVertexCount() == 4);
EXPECT_TRUE(geom->getFaceCount() == 1);
EXPECT_EQ(geom->getType(), tesseract_geometry::GeometryType::POLYGON_MESH);

auto geom_clone = geom->clone();
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getVertices() != nullptr);
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);
EXPECT_EQ(geom_clone->getType(), tesseract_geometry::GeometryType::POLYGON_MESH);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
Expand Down Expand Up @@ -213,12 +228,14 @@ TEST(TesseractGeometryUnit, ConvexMesh) // NOLINT
EXPECT_TRUE(geom->getFaces() != nullptr);
EXPECT_TRUE(geom->getVertexCount() == 4);
EXPECT_TRUE(geom->getFaceCount() == 1);
EXPECT_EQ(geom->getType(), tesseract_geometry::GeometryType::CONVEX_MESH);

auto geom_clone = geom->clone();
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getVertices() != nullptr);
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);
EXPECT_EQ(geom_clone->getType(), tesseract_geometry::GeometryType::CONVEX_MESH);

// Test isIdentical
EXPECT_TRUE(tesseract_geometry::isIdentical(*geom, *geom_clone));
Expand Down Expand Up @@ -257,16 +274,22 @@ TEST(TesseractGeometryUnit, Mesh) // NOLINT
EXPECT_TRUE(geom->getVertexCount() == 4);
EXPECT_TRUE(geom->getFaceCount() == 2);
EXPECT_TRUE(geom->getMaterial() == nullptr);
EXPECT_EQ(geom->getType(), tesseract_geometry::GeometryType::MESH);

auto geom_clone = geom->clone();
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getVertices() != nullptr);
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);
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getMaterial() == nullptr);
EXPECT_EQ(geom_clone->getType(), tesseract_geometry::GeometryType::MESH);

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

{
Expand All @@ -277,16 +300,22 @@ TEST(TesseractGeometryUnit, Mesh) // NOLINT
EXPECT_TRUE(geom->getVertexCount() == 4);
EXPECT_TRUE(geom->getFaceCount() == 2);
EXPECT_TRUE(geom->getMaterial() != nullptr);
EXPECT_EQ(geom->getType(), tesseract_geometry::GeometryType::MESH);

auto geom_clone = geom->clone();
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getVertices() != nullptr);
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);
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getMaterial() != nullptr);
EXPECT_EQ(geom_clone->getType(), tesseract_geometry::GeometryType::MESH);

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

Expand Down Expand Up @@ -316,15 +345,21 @@ TEST(TesseractGeometryUnit, SDFMesh) // NOLINT
EXPECT_TRUE(geom->getFaces() != nullptr);
EXPECT_TRUE(geom->getVertexCount() == 4);
EXPECT_TRUE(geom->getFaceCount() == 2);
EXPECT_EQ(geom->getType(), tesseract_geometry::GeometryType::SDF_MESH);

auto geom_clone = geom->clone();
EXPECT_TRUE(std::static_pointer_cast<T>(geom_clone)->getVertices() != nullptr);
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);
EXPECT_EQ(geom_clone->getType(), tesseract_geometry::GeometryType::SDF_MESH);

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

TEST(TesseractGeometryUnit, Octree) // NOLINT
Expand All @@ -348,10 +383,12 @@ TEST(TesseractGeometryUnit, Octree) // NOLINT
auto geom = std::make_shared<T>(pc, 0.01, tesseract_geometry::Octree::SubType::BOX, false);
EXPECT_TRUE(geom->getOctree() != nullptr);
EXPECT_TRUE(geom->getSubType() == tesseract_geometry::Octree::SubType::BOX);
EXPECT_EQ(geom->getType(), tesseract_geometry::GeometryType::OCTREE);

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);
EXPECT_EQ(geom_clone->getType(), tesseract_geometry::GeometryType::OCTREE);

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

0 comments on commit ebed80b

Please sign in to comment.