61   fcl::Vector3<S> size;
62   fcl::Transform3<S> X_FB;
81      using fcl::AngleAxis;  in BoxBoxTest()
82      using fcl::Transform3;  in BoxBoxTest()
83      using fcl::Vector3;  in BoxBoxTest()
89      const S pi = fcl::constants<S>::pi();  in BoxBoxTest()
121   RunTests(fcl::GJKSolverType solver_type, S test_tolerance,  in RunTests()
122            const fcl::Vector3<S>& expected_normal, S expected_depth,  in RunTests()
123            std::function<void(const fcl::Vector3<S> &, S, const std::string &)>  in RunTests()
126     fcl::Contact<S> expected_contact;  in RunTests()
131       const fcl::Transform3<S>& pre_pose = reorient_pair.second;  in RunTests()
182       const BoxSpecification<S>& box_spec_B, fcl::GJKSolverType solver_type,  in RunSingleTest()
183       S test_tolerance, const fcl::Contact<S>& expected_contact,  in RunSingleTest()
184       std::function<void(const fcl::Vector3<S>&, S, const std::string&)>  in RunSingleTest()
187     using CollisionGeometryPtr_t = std::shared_ptr<fcl::CollisionGeometry<S>>;  in RunSingleTest()
188     CollisionGeometryPtr_t box_geometry_A(new fcl::Box<S>(box_spec_A.size));  in RunSingleTest()
189     CollisionGeometryPtr_t box_geometry_B(new fcl::Box<S>(box_spec_B.size));  in RunSingleTest()
191     fcl::CollisionObject<S> box_A(box_geometry_A, box_spec_A.X_FB);  in RunSingleTest()
192     fcl::CollisionObject<S> box_B(box_geometry_B, box_spec_B.X_FB);  in RunSingleTest()
195     fcl::CollisionRequest<S> collisionRequest(1, true);  in RunSingleTest()
197     fcl::CollisionResult<S> collisionResult;  in RunSingleTest()
198     fcl::collide(&box_A, &box_B, collisionRequest, collisionResult);  in RunSingleTest()
200     std::vector<fcl::Contact<S>> contacts;  in RunSingleTest()
204     const fcl::Contact<S>& contact = contacts[0];  in RunSingleTest()
218   map<string, fcl::Transform3<S>, std::less<string>,
219       Eigen::aligned_allocator<std::pair<const string, fcl::Transform3<S>>>>
259 void test_collision_box_box_all_contacts(fcl::GJKSolverType solver_type,  in test_collision_box_box_all_contacts()
262   const S pi = fcl::constants<S>::pi();  in test_collision_box_box_all_contacts()
265       fcl::Vector3<S>{size_1, size_1, size_1},  in test_collision_box_box_all_contacts()
266       fcl::Transform3<S>{fcl::AngleAxis<S>(pi / 4, fcl::Vector3<S>::UnitY())}};  in test_collision_box_box_all_contacts()
269   BoxSpecification<S> box_2{fcl::Vector3<S>{size_2, size_2, size_2},  in test_collision_box_box_all_contacts()
270                             fcl::Transform3<S>{fcl::Translation3<S>(  in test_collision_box_box_all_contacts()
271                                 fcl::Vector3<S>(0, 0, -size_2 / 2))}};  in test_collision_box_box_all_contacts()
273   fcl::Vector3<S> expected_normal{0, 0, -1};  in test_collision_box_box_all_contacts()
276   auto contact_pos_test = [size_1](const fcl::Vector3<S> &pos, S tolerance,  in test_collision_box_box_all_contacts()
292   test_collision_box_box_all_contacts<double>(fcl::GJKSolverType::GST_LIBCCD,  in GTEST_TEST()
298   test_collision_box_box_all_contacts<double>(fcl::GJKSolverType::GST_INDEP,  in GTEST_TEST()
343 void test_collision_box_box_cull_contacts(fcl::GJKSolverType solver_type,  in test_collision_box_box_cull_contacts()
346   const S pi = fcl::constants<S>::pi();  in test_collision_box_box_cull_contacts()
350       fcl::Vector3<S>{size, size, size},  in test_collision_box_box_cull_contacts()
351       fcl::Transform3<S>{fcl::AngleAxis<S>(tilt, fcl::Vector3<S>::UnitX())}};  in test_collision_box_box_cull_contacts()
353   BoxSpecification<S> box_2{fcl::Vector3<S>{size, size, size},  in test_collision_box_box_cull_contacts()
354                             fcl::Transform3<S>{fcl::AngleAxis<S>(  in test_collision_box_box_cull_contacts()
355                                 pi / 4, fcl::Vector3<S>::UnitZ())}};  in test_collision_box_box_cull_contacts()
358   fcl::Vector3<S> expected_normal{0, 0, -1};  in test_collision_box_box_cull_contacts()
361       const fcl::Vector3<S> &pos, S tolerance, const std::string& origin_name) {  in test_collision_box_box_cull_contacts()
384   test_collision_box_box_cull_contacts<double>(fcl::GJKSolverType::GST_LIBCCD,  in GTEST_TEST()
390   test_collision_box_box_cull_contacts<double>(fcl::GJKSolverType::GST_INDEP,  in GTEST_TEST()
423 void test_collision_box_box_edge_contact(fcl::GJKSolverType solver_type,  in test_collision_box_box_edge_contact()
425   const S pi = fcl::constants<S>::pi();  in test_collision_box_box_edge_contact()
428       fcl::Vector3<S>{size, size, size},  in test_collision_box_box_edge_contact()
429       fcl::Transform3<S>{fcl::AngleAxis<S>(-pi / 4, fcl::Vector3<S>::UnitY())} *  in test_collision_box_box_edge_contact()
430       fcl::Transform3<S>{fcl::AngleAxis<S>(pi / 4, fcl::Vector3<S>::UnitZ())}};  in test_collision_box_box_edge_contact()
431   const fcl::Vector3<S> dir{sqrt(2) / 2, 0, sqrt(2) / 2};  in test_collision_box_box_edge_contact()
435   BoxSpecification<S> box_2{fcl::Vector3<S>{size, size, size},  in test_collision_box_box_edge_contact()
436                             fcl::Transform3<S>::Identity()};  in test_collision_box_box_edge_contact()
439       const fcl::Vector3<S> &pos, S tolerance, const std::string& origin_name) {  in test_collision_box_box_edge_contact()
442     const fcl::Vector3<S> expected_pos{dir * dist};  in test_collision_box_box_edge_contact()
455   test_collision_box_box_edge_contact<double>(fcl::GJKSolverType::GST_LIBCCD,  in GTEST_TEST()
461   test_collision_box_box_edge_contact<double>(fcl::GJKSolverType::GST_INDEP,  in GTEST_TEST()