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Ran 31 Jul 2018 11:01PM UTC

Files 109

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Committed 31 Jul 2018 10:37PM UTC coverage: 72.351% (+0.07%) from 72.28%

Job # BUILD_TYPE=Debug COVERALLS=ON

Build Type

push

travis-ci

Committed by

SeanCurtis-TRI

Commit Message

Add custom sphere-box collision and distance tests

By default, the GJK solver was being used for performing distance queries
between box's and spheres. For small features, the answer was being
dominated by the iterative tolerance and producing wildly problematic
values. The logical thing to do is to perform sphere-box collisions using
knowledge of the primitives.

This commit adds the following:
  - A new test illustrating the error of GJK is used
    (see test_fcl_sphere_box.cpp)
  - Borrows the CompareMatrices functionality from Drake and adds it to FCL.
  - Adds the custom sphere-box collision (sphere_box.h and sphere_box-inl.h)
  - Adds *extensive* unit tests on the custom algorithm.
  - Ties the custom algorithm into the libccd and indep GJK solvers.
  - Remove a useless conflicting test from test_fcl_collision (it's only
    useless in retrospect). And its formulation can't help but become
    corrupt.
  - Update *other* tests that otherwise depend on box-sphere collision.

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