Drake
proximity_engine_test.cc File Reference
#include "drake/geometry/proximity_engine.h"
#include <cmath>
#include <utility>
#include <vector>
#include <fcl/fcl.h>
#include <gtest/gtest.h>
#include "drake/common/find_resource.h"
#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/common/test_utilities/expect_throws_message.h"
#include "drake/geometry/shape_specification.h"
#include "drake/math/autodiff_gradient.h"
#include "drake/math/rigid_transform.h"
#include "drake/math/rotation_matrix.h"
Include dependency graph for proximity_engine_test.cc:

Namespaces

 drake
 
 drake::geometry
 
 drake::geometry::internal
 

Functions

template<typename T >
void CompareSignedDistancePair (const SignedDistancePair< T > &pair, const SignedDistancePair< T > &pair_expected, double tol)
 

Variable Documentation

◆ a_

shared_ptr<const Shape> a_

◆ b_

shared_ptr<const Shape> b_

◆ colliding_x_

const double colliding_x_ {1.5 * radius_}
protected

◆ contact_count

const int contact_count

◆ contact_normal

const Vector3d contact_normal

◆ depth

const double depth

◆ description

const std::string description

◆ engine

ProximityEngine<double> engine

◆ engine_

ProximityEngine<double> engine_
protected

◆ expected_result

const SignedDistanceToPoint<double> expected_result

◆ expected_result_

const SignedDistancePair<double> expected_result_

◆ free_x_

const double free_x_ {2.5 * radius_}
protected

◆ geometry

shared_ptr<Shape> geometry

◆ geometry_map

std::vector<GeometryId> geometry_map

◆ geometry_map_

std::vector<GeometryId> geometry_map_
protected

◆ p_WQ

const Vector3d p_WQ

◆ radius_

const double radius_ {0.5}
protected

◆ sphere_

const Sphere sphere_ {radius_}
protected

◆ sphere_pose

const Vector3d sphere_pose

◆ tolerance

constexpr double tolerance = 1e-14
static

◆ tolerance_

constexpr double tolerance_ = 1e-14
static

◆ X_WA_

const RigidTransformd X_WA_

◆ X_WB_

const RigidTransformd X_WB_

◆ X_WG

const RigidTransformd X_WG

◆ X_WGs

std::vector<Isometry3d> X_WGs

◆ X_WGs_

std::vector<Isometry3d> X_WGs_
protected