add unit tests for computeShapeBoundingSphere()

Author: Acorn

test/test_bounding_sphere.cpp

@@ -0,0 +1,280 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013, Willow Garage, Inc.
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+*  Redistribution and use in source and binary forms, with or without
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+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
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+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/** \Author Acorn Pooley */
+
+#include <geometric_shapes/bodies.h>
+#include <geometric_shapes/shape_operations.h>
+#include <geometric_shapes/body_operations.h>
+#include <boost/filesystem.hpp>
+#include <gtest/gtest.h>
+
+
+TEST(SphereBoundingSphere, Sphere1)
+{
+  shapes::Sphere shape(1.0);
+  Eigen::Vector3d center;
+  double radius;
+  computeShapeBoundingSphere(&shape, center, radius);
+
+  EXPECT_EQ(1.0, radius);
+  EXPECT_EQ(0.0, center.x());
+  EXPECT_EQ(0.0, center.y());
+  EXPECT_EQ(0.0, center.z());
+}
+
+TEST(SphereBoundingSphere, Sphere2)
+{
+  shapes::Shape *shape = new shapes::Sphere(2.0);
+  Eigen::Vector3d center;
+  double radius;
+  computeShapeBoundingSphere(shape, center, radius);
+
+  EXPECT_EQ(2.0, radius);
+  EXPECT_EQ(0.0, center.x());
+  EXPECT_EQ(0.0, center.y());
+  EXPECT_EQ(0.0, center.z());
+  delete shape;
+}
+
+TEST(BoxBoundingSphere, Box1)
+{
+  shapes::Shape *shape = new shapes::Box(2.0, 4.0, 6.0);
+  Eigen::Vector3d center;
+  double radius;
+  computeShapeBoundingSphere(shape, center, radius);
+
+  EXPECT_EQ(sqrt(14.0), radius);
+  EXPECT_EQ(0.0, center.x());
+  EXPECT_EQ(0.0, center.y());
+  EXPECT_EQ(0.0, center.z());
+}
+
+TEST(BoxBoundingSphere, Box2)
+{
+  shapes::Shape *shape = new shapes::Box(2.0, 2.0, 2.0);
+  Eigen::Vector3d center;
+  double radius;
+  computeShapeBoundingSphere(shape, center, radius);
+
+  EXPECT_EQ(sqrt(3.0), radius);
+  EXPECT_EQ(0.0, center.x());
+  EXPECT_EQ(0.0, center.y());
+  EXPECT_EQ(0.0, center.z());
+}
+
+TEST(CylBoundingSphere, Cyl1)
+{
+  shapes::Shape *shape = new shapes::Cylinder(1.0, 4.0);
+  Eigen::Vector3d center;
+  double radius;
+  computeShapeBoundingSphere(shape, center, radius);
+
+  EXPECT_EQ(sqrt(1+4), radius);
+  EXPECT_EQ(0.0, center.x());
+  EXPECT_EQ(0.0, center.y());
+  EXPECT_EQ(0.0, center.z());
+}
+
+TEST(CylBoundingSphere, Cyl2)
+{
+  shapes::Shape *shape = new shapes::Cylinder(2.0, 20.0);
+  Eigen::Vector3d center;
+  double radius;
+  computeShapeBoundingSphere(shape, center, radius);
+
+  EXPECT_EQ(sqrt(4+100), radius);
+  EXPECT_EQ(0.0, center.x());
+  EXPECT_EQ(0.0, center.y());
+  EXPECT_EQ(0.0, center.z());
+}
+
+TEST(ConeBoundingSphere, Cone1)
+{
+  shapes::Shape *shape = new shapes::Cone(20.0, 2.0);
+  Eigen::Vector3d center;
+  double radius;
+  computeShapeBoundingSphere(shape, center, radius);
+
+  EXPECT_EQ(20.0, radius);
+  EXPECT_EQ(0.0, center.x());
+  EXPECT_EQ(0.0, center.y());
+  EXPECT_EQ(-1.0, center.z());
+}
+
+TEST(ConeBoundingSphere, Cone2)
+{
+  shapes::Shape *shape = new shapes::Cone(5.0, 5.0);
+  Eigen::Vector3d center;
+  double radius;
+  computeShapeBoundingSphere(shape, center, radius);
+
+  EXPECT_EQ(5.0, radius);
+  EXPECT_EQ(0.0, center.x());
+  EXPECT_EQ(0.0, center.y());
+  EXPECT_EQ(-2.5, center.z());
+}
+
+TEST(ConeBoundingSphere, Cone3)
+{
+  double height = 1.0 + 1.0/sqrt(2);
+  shapes::Shape *shape = new shapes::Cone(1/sqrt(2), height);
+  Eigen::Vector3d center;
+  double radius;
+  computeShapeBoundingSphere(shape, center, radius);
+
+  EXPECT_EQ(1.0, radius);
+  EXPECT_EQ(0.0, center.x());
+  EXPECT_EQ(0.0, center.y());
+  EXPECT_EQ(height/2 - 1, center.z());
+}
+
+TEST(ConeBoundingSphere, Cone4)
+{
+  shapes::Shape *shape = new shapes::Cone(3, 10);
+  Eigen::Vector3d center;
+  double radius;
+  computeShapeBoundingSphere(shape, center, radius);
+
+  EXPECT_EQ(109.0/20, radius);
+  EXPECT_EQ(0.0, center.x());
+  EXPECT_EQ(0.0, center.y());
+  EXPECT_EQ(5 - (109.0/20), center.z());
+}
+
+TEST(MeshBoundingSphere, Mesh1)
+{
+  shapes::Shape *shape = new shapes::Mesh(8, 12);
+  shapes::Mesh *m = dynamic_cast<shapes::Mesh*>(shape);
+  EXPECT_TRUE(m);
+
+  // box mesh
+
+  m->vertices[3*0 + 0] = 0;
+  m->vertices[3*0 + 1] = 0;
+  m->vertices[3*0 + 2] = 0;
+  
+  m->vertices[3*1 + 0] = 1;
+  m->vertices[3*1 + 1] = 0;
+  m->vertices[3*1 + 2] = 0;
+  
+  m->vertices[3*2 + 0] = 0;
+  m->vertices[3*2 + 1] = 1;
+  m->vertices[3*2 + 2] = 0;
+  
+  m->vertices[3*3 + 0] = 1;
+  m->vertices[3*3 + 1] = 1;
+  m->vertices[3*3 + 2] = 0;
+  
+  m->vertices[3*4 + 0] = 0;
+  m->vertices[3*4 + 1] = 0;
+  m->vertices[3*4 + 2] = 1;
+  
+  m->vertices[3*5 + 0] = 1;
+  m->vertices[3*5 + 1] = 0;
+  m->vertices[3*5 + 2] = 1;
+  
+  m->vertices[3*6 + 0] = 0;
+  m->vertices[3*6 + 1] = 1;
+  m->vertices[3*6 + 2] = 1;
+  
+  m->vertices[3*7 + 0] = 1;
+  m->vertices[3*7 + 1] = 1;
+  m->vertices[3*7 + 2] = 1;
+
+
+  m->triangles[3*0 + 0] = 0;
+  m->triangles[3*0 + 1] = 1;
+  m->triangles[3*0 + 2] = 2;
+  
+  m->triangles[3*1 + 0] = 1;
+  m->triangles[3*1 + 1] = 3;
+  m->triangles[3*1 + 2] = 2;
+  
+  m->triangles[3*2 + 0] = 5;
+  m->triangles[3*2 + 1] = 4;
+  m->triangles[3*2 + 2] = 6;
+  
+  m->triangles[3*3 + 0] = 5;
+  m->triangles[3*3 + 1] = 6;
+  m->triangles[3*3 + 2] = 7;
+  
+  m->triangles[3*4 + 0] = 1;
+  m->triangles[3*4 + 1] = 5;
+  m->triangles[3*4 + 2] = 3;
+  
+  m->triangles[3*5 + 0] = 5;
+  m->triangles[3*5 + 1] = 7;
+  m->triangles[3*5 + 2] = 3;
+  
+  m->triangles[3*6 + 0] = 4;
+  m->triangles[3*6 + 1] = 0;
+  m->triangles[3*6 + 2] = 2;
+  
+  m->triangles[3*7 + 0] = 4;
+  m->triangles[3*7 + 1] = 2;
+  m->triangles[3*7 + 2] = 6;
+  
+  m->triangles[3*8 + 0] = 2;
+  m->triangles[3*8 + 1] = 3;
+  m->triangles[3*8 + 2] = 6;
+  
+  m->triangles[3*9 + 0] = 3;
+  m->triangles[3*9 + 1] = 7;
+  m->triangles[3*9 + 2] = 6;
+  
+  m->triangles[3*10 + 0] = 1;
+  m->triangles[3*10 + 1] = 0;
+  m->triangles[3*10 + 2] = 4;
+  
+  m->triangles[3*11 + 0] = 1;
+  m->triangles[3*11 + 1] = 4;
+  m->triangles[3*11 + 2] = 5;
+
+
+  Eigen::Vector3d center;
+  double radius;
+  computeShapeBoundingSphere(shape, center, radius);
+
+  EXPECT_EQ(sqrt(0.75), radius);
+  EXPECT_EQ(0.5, center.x());
+  EXPECT_EQ(0.5, center.y());
+  EXPECT_EQ(0.5, center.z());
+}
+
+int main(int argc, char **argv)
+{
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}