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fix missing nearest points in Octree<->Mesh distance result #427

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merged 5 commits into from
Jan 14, 2020
Merged

fix missing nearest points in Octree<->Mesh distance result #427

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4574190
fix missing nearest points in Octree<->Mesh distance result
SebastianRiedel Nov 28, 2019
eb1e0b2
Extend test_fcl_octomap_distance, check nearest_points
AlbertoMarnetto-Work Dec 9, 2019
9973422
add test for octomap distance nearest point result (however not all t…
Dec 9, 2019
aa00f5f
revert changed test to original state (new test too brittle)
SebastianRiedel Jan 10, 2020
7e1576d
Merge remote-tracking branch 'alberto/fix-octomap-mesh-distance-test'…
SebastianRiedel Jan 10, 2020
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2 changes: 1 addition & 1 deletion include/fcl/narrowphase/detail/traversal/octree/octree_solver-inl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -506,7 +506,7 @@ bool OcTreeSolver<NarrowPhaseSolver>::OcTreeMeshDistanceRecurse(const OcTree<S>*
Vector3<S> closest_p1, closest_p2;
solver->shapeTriangleDistance(box, box_tf, p1, p2, p3, tf2, &dist, &closest_p1, &closest_p2);

dresult->update(dist, tree1, tree2, root1 - tree1->getRoot(), primitive_id);
dresult->update(dist, tree1, tree2, root1 - tree1->getRoot(), primitive_id, closest_p1, closest_p2);

return drequest->isSatisfied(*dresult);
}
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8 changes: 8 additions & 0 deletions test/test_fcl_octomap_distance.cpp
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Expand Up @@ -196,6 +196,7 @@ void octomap_distance_test_BVH(std::size_t n, double resolution)
CollisionObject<S> obj1(m1_ptr, tf);
CollisionObject<S> obj2(tree_ptr, tf);
test::DistanceData<S> cdata;
cdata.request.enable_nearest_points = true;
S dist1 = std::numeric_limits<S>::max();
test::defaultDistanceFunction(&obj1, &obj2, &cdata, dist1);

Expand All @@ -219,6 +220,13 @@ void octomap_distance_test_BVH(std::size_t n, double resolution)

std::cout << dist1 << " " << dist2 << std::endl;
EXPECT_TRUE(std::abs(dist1 - dist2) < 0.001);

// Check that the nearest points are consistent with the distance
// Note that we cannot compare the result with the "boxes" approximation,
// since the problem is ill-posed (i.e. the nearest points may differ widely
// for slightly different geometries)
Vector3<S> nearestPointDistance = cdata.result.nearest_points[0] - cdata.result.nearest_points[1];
EXPECT_NEAR(nearestPointDistance.norm(), dist1, 0.001);
}
}

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