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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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Move boxes_overlap tests from obb_test to boxes_overlap_test #21546

Closed SeanCurtis-TRI closed 2 weeks ago

SeanCurtis-TRI commented 3 weeks ago

This resolves a TODO in boxes_overlap.cc. The function is no longer implicitly tested by obb_test.cc, but tested directly.

Furthermore, the test is expanded to provide an affordance for visualizing the configurations (this helped in test authoring, clean up, and, I anticipate, future maintenance).

Relates to #21526

This change is Reviewable

SeanCurtis-TRI commented 3 weeks ago

Note to reviewers. The commits are (currently) curated.

R1: This is a strict cut-and-paste. Code was lifted directly out of obb_test.cc and placed into boxes_overlap_test.cc without modification. R2: These are the modifications that make the test run and update it for its OBB-less spelling. R3: This provides a mechanism for visualizing the test scenarios. I'm open to this being frivolous. If we want to keep it, we should modify the test rules to include exercising the gflags to make sure they don't bitrot. Let me know what you think.