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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
* Copyright (c) 2016, Toyota Research Institute
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Open Source Robotics Foundation nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/** @author Jeongseok Lee */
#include <gtest/gtest.h>
#include <Eigen/Core>
#include <unsupported/Eigen/AutoDiff>
#include "fcl/narrowphase/distance.h"
using namespace fcl;
//==============================================================================
template <typename S>
S getDistance(const Vector3<S>& p)
{
detail::GJKSolver_libccd<S> solver;
S dist;
Sphere<S> s1(20);
Sphere<S> s2(10);
Transform3<S> tf1 = Transform3<S>::Identity();
Transform3<S> tf2 = Transform3<S>::Identity();
tf2.translation() = p;
solver.shapeDistance(s1, tf1, s2, tf2, &dist);
return dist;
}
//==============================================================================
template <typename S>
void test_basic()
{
using derivative_t = Eigen::Matrix<S, 3, 1>;
using scalar_t = Eigen::AutoDiffScalar<derivative_t>;
using input_t = Eigen::Matrix<scalar_t, 3, 1>;
input_t pos(40, 0, 0);
pos(0).derivatives() = derivative_t::Unit(3, 0);
pos(1).derivatives() = derivative_t::Unit(3, 1);
pos(2).derivatives() = derivative_t::Unit(3, 2);
auto dist = getDistance(pos);
EXPECT_EQ(dist, (S)10);
EXPECT_EQ(dist.value(), (S)10);
EXPECT_EQ(dist.derivatives(), Vector3<S>(1, 0, 0));
pos << 0, 40, 0;
pos(0).derivatives() = derivative_t::Unit(3, 0);
pos(1).derivatives() = derivative_t::Unit(3, 1);
pos(2).derivatives() = derivative_t::Unit(3, 2);
dist = getDistance(pos);
EXPECT_EQ(dist, (S)10);
EXPECT_EQ(dist.value(), (S)10);
EXPECT_EQ(dist.derivatives(), Vector3<S>(0, 1, 0));
pos << 0, 0, 40;
pos(0).derivatives() = derivative_t::Unit(3, 0);
pos(1).derivatives() = derivative_t::Unit(3, 1);
pos(2).derivatives() = derivative_t::Unit(3, 2);
dist = getDistance(pos);
EXPECT_EQ(dist, (S)10);
EXPECT_EQ(dist.value(), (S)10);
EXPECT_EQ(dist.derivatives(), Vector3<S>(0, 0, 1));
}
//==============================================================================
GTEST_TEST(FCL_AUTO_DIFF, basic)
{
// test_basic<float>();
test_basic<double>();
}
//==============================================================================
int main(int argc, char* argv[])
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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