/** @name Test_Cases For each of these cases, we check if the accurate forces are computed */ DiagonalStiffness_test():Inherited::ForceField_test() { this->errorFactorPotentialEnergy = 3; // increading tolerance for potential energy test due to non-linearities //Position x.resize(3); DataTypes::set( x[0], 0,0,0); DataTypes::set( x[1], -1,0,0); DataTypes::set( x[2], 7,0,0); //Velocity v.resize(3); DataTypes::set( v[0], 0,0,0); DataTypes::set( v[1], 0,0,0); DataTypes::set( v[2], 0,0,0); //Force f.resize(3); DataTypes::set( f[0], 0,0,0 ); DataTypes::set( f[1], 100,0,0 ); DataTypes::set( f[2], -49,0,0 ); // Set force parameters VecDeriv& stiffnesses = *Inherited::force->diagonal.beginWriteOnly(); stiffnesses.resize(3); stiffnesses[0] = 10; stiffnesses[1] = 100; stiffnesses[2] = 7; Inherited::force->diagonal.endEdit(); }
void ClosestPointRegistrationForceFieldCam<DataTypes, DepthTypes>::initTarget() { //pcl::PointCloud<pcl::PointXYZRGB>::Ptr target (new pcl::PointCloud<pcl::PointXYZRGB>); pcl::PointCloud<pcl::PointXYZRGB> target; pcl::io::loadPCDFile ("/home/apetit/soft/catkin_ws/test_pcd12.pcd", target); VecCoord targetpos; targetpos.resize(target.size()); Vector3 pos; Vector3 col; for (unsigned int i=0; i<targetpos.size(); i++) { pos[0] = target[i].x; pos[1] = target[i].y; pos[2] = target[i].z; targetpos[i]=pos; } //targetPositions.setValue(targetpos); // build k-d tree //const VecCoord& p = targetPositions.getValue(); const VecCoord& p = targetpos; targetPositions.setValue(p); targetKdTree.build(p); // detect border if(targetBorder.size()!=p.size()) { targetBorder.resize(p.size()); detectBorder(targetBorder,targetTriangles.getValue()); } }
TrianglePressureForceField_test(): Inherited::ForceField_test(std::string(SOFABOUNDARYCONDITION_TEST_SCENES_DIR) + "/" + "TrianglePressureForceField.scn") { // potential energy is not implemented and won't be tested this->flags &= ~Inherited::TEST_POTENTIAL_ENERGY; // Set vectors, using DataTypes::set to cope with tests in dimension 2 //Position x.resize(3); DataTypes::set( x[0], 0,0,0); DataTypes::set( x[1], 1,0,0); DataTypes::set( x[2], 1,1,0); //Velocity v.resize(3); DataTypes::set( v[0], 0,0,0); DataTypes::set( v[1], 0,0,0); DataTypes::set( v[2], 0,0,0); //Force f.resize(3); Vec3 f0(0,0,0.1); DataTypes::set( f[0], f0[0], f0[1], f0[2]); DataTypes::set( f[1], f0[0], f0[1], f0[2]); DataTypes::set( f[2], f0[0], f0[1], f0[2]); // Set the properties of the force field Inherited::force->normal.setValue(Deriv(0,0,1)); Inherited::force->dmin.setValue(-0.01); Inherited::force->dmax.setValue(0.01); Inherited::force->pressure=Coord(0,0,0.6); }
void ClosestPointRegistrationForceFieldCam<DataTypes, DepthTypes>::extractTargetPCD() { pcl::PointCloud<pcl::PointXYZRGB>::Ptr target(new pcl::PointCloud<pcl::PointXYZRGB>); //pcl::PointCloud<pcl::PointXYZRGB>::Ptr target; target = PCDFromRGBD(depth,foreground); pcl::PointCloud<pcl::PointXYZRGB> target0; pcl::io::loadPCDFile ("/home/apetit/soft/catkin_ws/test_pcd12.pcd", target0); //pcl::PointCloud<pcl::PointXYZRGB>::Ptr target; VecCoord targetpos; targetpos.resize(target->size()); Vector3 pos; Vector3 col; for (unsigned int i=0; i<target->size(); i++) { pos[0] = target->points[i].x; pos[1] = target->points[i].y; pos[2] = target->points[i].z; targetpos[i]=pos; //std::cout << " x " << pos[0] << " y " << pos[1] << " z " << pos[2] << std::endl; } /*for (unsigned int i=target->size(); i<targetpos.size(); i++) { pos[0] = target0[i].x; pos[1] = target0[i].y; pos[2] = target0[i].z; targetpos[i]=pos; //std::cout << " x " << pos[0] << " y " << pos[1] << " z " << pos[2] << std::endl; }*/ //targetPositions.setValue(targetpos); // build k-d tree //const VecCoord& p = targetPositions.getValue(); const VecCoord& p = targetpos; targetPositions.setValue(p); targetKdTree.build(p); // detect border if(targetBorder.size()!=p.size()) { targetBorder.resize(p.size()); detectBorder(targetBorder,targetTriangles.getValue()); } }