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Regression tests for closing issues #437

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Feb 3, 2020
Merged

Regression tests for closing issues #437

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56 changes: 55 additions & 1 deletion test/test_fcl_signed_distance.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -165,6 +165,7 @@ void test_distance_spherecapsule(GJKSolverType solver_type)
}
}


template <typename S>
void test_distance_cylinder_sphere1() {
// This is a specific case that has cropped up in the wild that reaches the
Expand Down Expand Up @@ -417,6 +418,57 @@ void test_distance_box_box_regression4() {
test_distance_box_box_helper(box1_size, X_WB1, box2_size, X_WB2);
}

// This is a *specific* case that has cropped up in the wild. This error was
// reported in https://github.com/flexible-collision-library/fcl/issues/428
template <typename S>
void test_distance_box_box_regression5() {
const Vector3<S> box1_size(0.2, 0.33, 0.1);
Transform3<S> X_WB1 = Transform3<S>::Identity();
X_WB1.translation() << -0.071000000000000035305, -0.77200000000000001954, 0.79999999999999993339;
const Vector3<S> box2_size(0.452, 0.27, 0.6);
Transform3<S> X_WB2 = Transform3<S>::Identity();
X_WB2.translation() << 0.12099999999999999645, -0.78769605692727695523, 0.53422044196125151316;
test_distance_box_box_helper(box1_size, X_WB1, box2_size, X_WB2);
}

// This is a *specific* case that has cropped up in the wild that reaches the
// unexpected `validateNearestFeatureOfPolytopeBeingEdge` error. This error was
// reported in https://github.com/flexible-collision-library/fcl/issues/408
template <typename S>
void test_distance_sphere_box_regression1() {
using CollisionGeometryPtr_t = std::shared_ptr<fcl::CollisionGeometry<S>>;
const S sphere_radius = 0.06;
CollisionGeometryPtr_t sphere_geo(new fcl::Sphere<S>(sphere_radius));
Transform3<S> X_WS = Transform3<S>::Identity();
// clang-format off
X_WS.matrix() << -0.99999999999999955591, -4.4637642593504144998e-09, 0, 1.7855056639081962376e-10,
4.4637642593504144998e-09, -0.99999999999999955591, 0, 0.039999999999999993894,
0, 0, 1.0000000000000008882, 0.33000000000000012657,
0, 0, 0, 1;
// clang-format on
fcl::CollisionObject<S> sphere(sphere_geo, X_WS);

CollisionGeometryPtr_t box_geo(new fcl::Box<S>(0.1, 0.1, 0.1));
Transform3<S> X_WB = Transform3<S>::Identity();
// clang-format off
X_WB.matrix() << 1, 0, 0, 0.05,
0, 1, 0, 0.15,
0, 0, 1, 0.35,
0, 0, 0, 1;
// clang-format on
fcl::CollisionObject<S> box(box_geo, X_WB);
fcl::DistanceRequest<S> request;
request.gjk_solver_type = GJKSolverType::GST_LIBCCD;
request.distance_tolerance = 1e-6;
request.enable_signed_distance = true;
fcl::DistanceResult<S> result;

ASSERT_NO_THROW(fcl::distance(&sphere, &box, request, result));
const S expected_distance = 0.06 - sphere_radius;
EXPECT_NEAR(result.min_distance, expected_distance,
request.distance_tolerance);
}

//==============================================================================

GTEST_TEST(FCL_NEGATIVE_DISTANCE, sphere_sphere_ccd) {
Expand Down Expand Up @@ -444,12 +496,14 @@ GTEST_TEST(FCL_SIGNED_DISTANCE, cylinder_box_ccd) {
}

GTEST_TEST(FCL_SIGNED_DISTANCE, RealWorldRegression) {
// A collection of scnarios observed in practice that have created error
// A collection of scenarios observed in practice that have created error
// conditions in previous commits of the code. Each test is a unique instance.
test_distance_box_box_regression1<double>();
test_distance_box_box_regression2<double>();
test_distance_box_box_regression3<double>();
test_distance_box_box_regression4<double>();
test_distance_box_box_regression5<double>();
test_distance_sphere_box_regression1<double>();
}

//==============================================================================
Expand Down