From 4f9a8cbe4c0a4911d1c01673fc77424a8b3549ba Mon Sep 17 00:00:00 2001
From: Sreekanth Arikatla <sreekanth.arikatla@kitware.com>
Date: Mon, 4 Apr 2016 17:45:07 -0400
Subject: [PATCH] ENH: Adds tests for geometric mapping
Adds visual tests for Isometric mapping
---
Base/Geometry/imstkIsometricMap.h | 2 ++
Examples/Sandbox/main.cpp | 56 +++++++++++++++++++++++++++++++
2 files changed, 58 insertions(+)
diff --git a/Base/Geometry/imstkIsometricMap.h b/Base/Geometry/imstkIsometricMap.h
index 12e78aa6f..d5b81f5df 100644
--- a/Base/Geometry/imstkIsometricMap.h
+++ b/Base/Geometry/imstkIsometricMap.h
@@ -36,6 +36,8 @@ public:
void applyMap();
+ void computeMap(){};
+
// Accessors
void setTransform(const RigidTransform3d& affineTransform);
const RigidTransform3d& getTransform() const;
diff --git a/Examples/Sandbox/main.cpp b/Examples/Sandbox/main.cpp
index c8bdc051c..ca28e217f 100644
--- a/Examples/Sandbox/main.cpp
+++ b/Examples/Sandbox/main.cpp
@@ -11,10 +11,16 @@
#include "imstkMath.h"
#include "imstkSimulationManager.h"
+// Maps
+#include "imstkIsometricMap.h"
+
#include "g3log/g3log.hpp"
+void testGeometryMaps();
+
int main()
{
+
std::cout << "****************" << std::endl
<< "Starting Sandbox" << std::endl
<< "****************" << std::endl;
@@ -52,6 +58,7 @@ int main()
sdk->startSimulation("SceneTest");
+
/*
//--------------------------------------------
// Geometry
@@ -140,3 +147,52 @@ int main()
return 0;
}
+
+void testGeometryMaps()
+{
+ std::cout << "****************" << std::endl
+ << "Test: Geometric maps" << std::endl
+ << "****************" << std::endl;
+
+ auto sdk = std::make_shared<imstk::SimulationManager>();
+
+ // Scene object 1
+ auto cubeGeom = std::make_shared<imstk::Cube>();
+ cubeGeom->scale(0.5);
+ auto cubeObj = std::make_shared<imstk::VisualObject>("VisualCube");
+ cubeObj->setVisualGeometry(cubeGeom);
+
+ // Scene object 2
+ auto sphereGeom = std::make_shared<imstk::Sphere>();
+ sphereGeom->scale(0.3);
+ auto sphereObj = std::make_shared<imstk::VisualObject>("VisualSphere");
+ sphereObj->setVisualGeometry(sphereGeom);
+
+ // Isometric Map
+ auto rigidMap = std::make_shared<imstk::IsometricMap>();
+
+ rigidMap->setMaster(sphereObj->getVisualGeometry());
+ rigidMap->setSlave(cubeObj->getVisualGeometry());
+
+ auto trans = imstk::RigidTransform3d::Identity();
+ trans.translate(imstk::Vec3d(1.5, 1.5, 1.5));
+
+ auto rz = imstk::RigidTransform3d(Eigen::AngleAxisd(imstk::PI_4, imstk::Vec3d(0, 1.0, 0)));
+ trans.rotate(rz.rotation());
+
+ rigidMap->setTransform(trans);
+
+ // Apply map
+ rigidMap->applyMap();
+
+ // Move master and Apply map again
+ sphereObj->getVisualGeometry()->setPosition(-1.0, 0, 0);
+ rigidMap->applyMap();
+
+ auto geometryMapTest = sdk->createNewScene("geometryMapTest");
+ geometryMapTest->setLoopDelay(1000);
+ geometryMapTest->addSceneObject(cubeObj);
+ geometryMapTest->addSceneObject(sphereObj);
+
+ sdk->startSimulation("geometryMapTest");
+}
\ No newline at end of file
--
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