| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
| 5 | * Copyright (c) 2014-2015, Open Source Robotics Foundation | ||
| 6 | * All rights reserved. | ||
| 7 | * | ||
| 8 | * Redistribution and use in source and binary forms, with or without | ||
| 9 | * modification, are permitted provided that the following conditions | ||
| 10 | * are met: | ||
| 11 | * | ||
| 12 | * * Redistributions of source code must retain the above copyright | ||
| 13 | * notice, this list of conditions and the following disclaimer. | ||
| 14 | * * Redistributions in binary form must reproduce the above | ||
| 15 | * copyright notice, this list of conditions and the following | ||
| 16 | * disclaimer in the documentation and/or other materials provided | ||
| 17 | * with the distribution. | ||
| 18 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| 19 | * contributors may be used to endorse or promote products derived | ||
| 20 | * from this software without specific prior written permission. | ||
| 21 | * | ||
| 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 23 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 24 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 25 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 26 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 27 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 28 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 29 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 30 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 31 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 32 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 33 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 34 | */ | ||
| 35 | |||
| 36 | /** \author Jia Pan */ | ||
| 37 | |||
| 38 | #ifndef COAL_BV_H | ||
| 39 | #define COAL_BV_H | ||
| 40 | |||
| 41 | #include "coal/BV/kDOP.h" | ||
| 42 | #include "coal/BV/AABB.h" | ||
| 43 | #include "coal/BV/OBB.h" | ||
| 44 | #include "coal/BV/RSS.h" | ||
| 45 | #include "coal/BV/OBBRSS.h" | ||
| 46 | #include "coal/BV/kIOS.h" | ||
| 47 | #include "coal/math/transform.h" | ||
| 48 | |||
| 49 | /** @brief Main namespace */ | ||
| 50 | namespace coal { | ||
| 51 | |||
| 52 | /// @cond IGNORE | ||
| 53 | namespace details { | ||
| 54 | |||
| 55 | /// @brief Convert a bounding volume of type BV1 in configuration tf1 to a | ||
| 56 | /// bounding volume of type BV2 in I configuration. | ||
| 57 | template <typename BV1, typename BV2> | ||
| 58 | struct Converter { | ||
| 59 | static void convert(const BV1& bv1, const Transform3s& tf1, BV2& bv2); | ||
| 60 | static void convert(const BV1& bv1, BV2& bv2); | ||
| 61 | }; | ||
| 62 | |||
| 63 | /// @brief Convert from AABB to AABB, not very tight but is fast. | ||
| 64 | template <> | ||
| 65 | struct Converter<AABB, AABB> { | ||
| 66 | ✗ | static void convert(const AABB& bv1, const Transform3s& tf1, AABB& bv2) { | |
| 67 | ✗ | const Vec3s& center = bv1.center(); | |
| 68 | ✗ | Scalar r = (bv1.max_ - bv1.min_).norm() * Scalar(0.5); | |
| 69 | ✗ | const Vec3s center2 = tf1.transform(center); | |
| 70 | ✗ | bv2.min_ = center2 - Vec3s::Constant(r); | |
| 71 | ✗ | bv2.max_ = center2 + Vec3s::Constant(r); | |
| 72 | ✗ | } | |
| 73 | |||
| 74 | 137330 | static void convert(const AABB& bv1, AABB& bv2) { bv2 = bv1; } | |
| 75 | }; | ||
| 76 | |||
| 77 | template <> | ||
| 78 | struct Converter<AABB, OBB> { | ||
| 79 | 173179 | static void convert(const AABB& bv1, const Transform3s& tf1, OBB& bv2) { | |
| 80 |
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173179 | bv2.To = tf1.transform(bv1.center()); |
| 81 |
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173179 | bv2.extent.noalias() = (bv1.max_ - bv1.min_) * 0.5; |
| 82 | 173179 | bv2.axes = tf1.getRotation(); | |
| 83 | 173179 | } | |
| 84 | |||
| 85 | 98318 | static void convert(const AABB& bv1, OBB& bv2) { | |
| 86 |
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98318 | bv2.To = bv1.center(); |
| 87 |
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98318 | bv2.extent.noalias() = (bv1.max_ - bv1.min_) * 0.5; |
| 88 | 98318 | bv2.axes.setIdentity(); | |
| 89 | 98318 | } | |
| 90 | }; | ||
| 91 | |||
| 92 | template <> | ||
| 93 | struct Converter<OBB, OBB> { | ||
| 94 | 28982 | static void convert(const OBB& bv1, const Transform3s& tf1, OBB& bv2) { | |
| 95 | 28982 | bv2.extent = bv1.extent; | |
| 96 |
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28982 | bv2.To = tf1.transform(bv1.To); |
| 97 |
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28982 | bv2.axes.noalias() = tf1.getRotation() * bv1.axes; |
| 98 | 28982 | } | |
| 99 | |||
| 100 | static void convert(const OBB& bv1, OBB& bv2) { bv2 = bv1; } | ||
| 101 | }; | ||
| 102 | |||
| 103 | template <> | ||
| 104 | struct Converter<OBBRSS, OBB> { | ||
| 105 | 28982 | static void convert(const OBBRSS& bv1, const Transform3s& tf1, OBB& bv2) { | |
| 106 | 28982 | Converter<OBB, OBB>::convert(bv1.obb, tf1, bv2); | |
| 107 | 28982 | } | |
| 108 | |||
| 109 | static void convert(const OBBRSS& bv1, OBB& bv2) { | ||
| 110 | Converter<OBB, OBB>::convert(bv1.obb, bv2); | ||
| 111 | } | ||
| 112 | }; | ||
| 113 | |||
| 114 | template <> | ||
| 115 | struct Converter<RSS, OBB> { | ||
| 116 | ✗ | static void convert(const RSS& bv1, const Transform3s& tf1, OBB& bv2) { | |
| 117 | ✗ | const Scalar half = Scalar(0.5); | |
| 118 | ✗ | bv2.extent = Vec3s(bv1.length[0] * half + bv1.radius, | |
| 119 | ✗ | bv1.length[1] * half + bv1.radius, bv1.radius); | |
| 120 | ✗ | bv2.To = tf1.transform(bv1.Tr); | |
| 121 | ✗ | bv2.axes.noalias() = tf1.getRotation() * bv1.axes; | |
| 122 | ✗ | } | |
| 123 | |||
| 124 | static void convert(const RSS& bv1, OBB& bv2) { | ||
| 125 | const Scalar half = Scalar(0.5); | ||
| 126 | bv2.extent = Vec3s(bv1.length[0] * half + bv1.radius, | ||
| 127 | bv1.length[1] * half + bv1.radius, bv1.radius); | ||
| 128 | bv2.To = bv1.Tr; | ||
| 129 | bv2.axes = bv1.axes; | ||
| 130 | } | ||
| 131 | }; | ||
| 132 | |||
| 133 | template <typename BV1> | ||
| 134 | struct Converter<BV1, AABB> { | ||
| 135 | ✗ | static void convert(const BV1& bv1, const Transform3s& tf1, AABB& bv2) { | |
| 136 | ✗ | const Vec3s& center = bv1.center(); | |
| 137 | ✗ | const Scalar half = Scalar(0.5); | |
| 138 | ✗ | Scalar r = Vec3s(bv1.width(), bv1.height(), bv1.depth()).norm() * half; | |
| 139 | ✗ | const Vec3s center2 = tf1.transform(center); | |
| 140 | ✗ | bv2.min_ = center2 - Vec3s::Constant(r); | |
| 141 | ✗ | bv2.max_ = center2 + Vec3s::Constant(r); | |
| 142 | ✗ | } | |
| 143 | |||
| 144 | ✗ | static void convert(const BV1& bv1, AABB& bv2) { | |
| 145 | ✗ | const Vec3s& center = bv1.center(); | |
| 146 | ✗ | const Scalar half = Scalar(0.5); | |
| 147 | ✗ | Scalar r = Vec3s(bv1.width(), bv1.height(), bv1.depth()).norm() * half; | |
| 148 | ✗ | bv2.min_ = center - Vec3s::Constant(r); | |
| 149 | ✗ | bv2.max_ = center + Vec3s::Constant(r); | |
| 150 | ✗ | } | |
| 151 | }; | ||
| 152 | |||
| 153 | template <typename BV1> | ||
| 154 | struct Converter<BV1, OBB> { | ||
| 155 | ✗ | static void convert(const BV1& bv1, const Transform3s& tf1, OBB& bv2) { | |
| 156 | ✗ | AABB bv; | |
| 157 | ✗ | Converter<BV1, AABB>::convert(bv1, bv); | |
| 158 | ✗ | Converter<AABB, OBB>::convert(bv, tf1, bv2); | |
| 159 | ✗ | } | |
| 160 | |||
| 161 | static void convert(const BV1& bv1, OBB& bv2) { | ||
| 162 | AABB bv; | ||
| 163 | Converter<BV1, AABB>::convert(bv1, bv); | ||
| 164 | Converter<AABB, OBB>::convert(bv, bv2); | ||
| 165 | } | ||
| 166 | }; | ||
| 167 | |||
| 168 | template <> | ||
| 169 | struct Converter<OBB, RSS> { | ||
| 170 | static void convert(const OBB& bv1, const Transform3s& tf1, RSS& bv2) { | ||
| 171 | bv2.Tr = tf1.transform(bv1.To); | ||
| 172 | bv2.axes.noalias() = tf1.getRotation() * bv1.axes; | ||
| 173 | |||
| 174 | bv2.radius = bv1.extent[2]; | ||
| 175 | bv2.length[0] = 2 * (bv1.extent[0] - bv2.radius); | ||
| 176 | bv2.length[1] = 2 * (bv1.extent[1] - bv2.radius); | ||
| 177 | } | ||
| 178 | |||
| 179 | static void convert(const OBB& bv1, RSS& bv2) { | ||
| 180 | bv2.Tr = bv1.To; | ||
| 181 | bv2.axes = bv1.axes; | ||
| 182 | |||
| 183 | bv2.radius = bv1.extent[2]; | ||
| 184 | bv2.length[0] = 2 * (bv1.extent[0] - bv2.radius); | ||
| 185 | bv2.length[1] = 2 * (bv1.extent[1] - bv2.radius); | ||
| 186 | } | ||
| 187 | }; | ||
| 188 | |||
| 189 | template <> | ||
| 190 | struct Converter<RSS, RSS> { | ||
| 191 | static void convert(const RSS& bv1, const Transform3s& tf1, RSS& bv2) { | ||
| 192 | bv2.Tr = tf1.transform(bv1.Tr); | ||
| 193 | bv2.axes.noalias() = tf1.getRotation() * bv1.axes; | ||
| 194 | |||
| 195 | bv2.radius = bv1.radius; | ||
| 196 | bv2.length[0] = bv1.length[0]; | ||
| 197 | bv2.length[1] = bv1.length[1]; | ||
| 198 | } | ||
| 199 | |||
| 200 | static void convert(const RSS& bv1, RSS& bv2) { bv2 = bv1; } | ||
| 201 | }; | ||
| 202 | |||
| 203 | template <> | ||
| 204 | struct Converter<OBBRSS, RSS> { | ||
| 205 | static void convert(const OBBRSS& bv1, const Transform3s& tf1, RSS& bv2) { | ||
| 206 | Converter<RSS, RSS>::convert(bv1.rss, tf1, bv2); | ||
| 207 | } | ||
| 208 | |||
| 209 | static void convert(const OBBRSS& bv1, RSS& bv2) { | ||
| 210 | Converter<RSS, RSS>::convert(bv1.rss, bv2); | ||
| 211 | } | ||
| 212 | }; | ||
| 213 | |||
| 214 | template <> | ||
| 215 | struct Converter<AABB, RSS> { | ||
| 216 | 98318 | static void convert(const AABB& bv1, const Transform3s& tf1, RSS& bv2) { | |
| 217 |
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98318 | bv2.Tr = tf1.transform(bv1.center()); |
| 218 | |||
| 219 | /// Sort the AABB edges so that AABB extents are ordered. | ||
| 220 |
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98318 | Scalar d[3] = {bv1.width(), bv1.height(), bv1.depth()}; |
| 221 | 98318 | Eigen::DenseIndex id[3] = {0, 1, 2}; | |
| 222 | |||
| 223 |
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294954 | for (Eigen::DenseIndex i = 1; i < 3; ++i) { |
| 224 |
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491590 | for (Eigen::DenseIndex j = i; j > 0; --j) { |
| 225 |
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294954 | if (d[j] > d[j - 1]) { |
| 226 | { | ||
| 227 | 265551 | Scalar tmp = d[j]; | |
| 228 | 265551 | d[j] = d[j - 1]; | |
| 229 | 265551 | d[j - 1] = tmp; | |
| 230 | } | ||
| 231 | { | ||
| 232 | 265551 | Eigen::DenseIndex tmp = id[j]; | |
| 233 | 265551 | id[j] = id[j - 1]; | |
| 234 | 265551 | id[j - 1] = tmp; | |
| 235 | } | ||
| 236 | } | ||
| 237 | } | ||
| 238 | } | ||
| 239 | |||
| 240 |
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98318 | const Vec3s extent = (bv1.max_ - bv1.min_) * 0.5; |
| 241 |
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98318 | bv2.radius = extent[id[2]]; |
| 242 |
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98318 | bv2.length[0] = (extent[id[0]] - bv2.radius) * 2; |
| 243 |
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98318 | bv2.length[1] = (extent[id[1]] - bv2.radius) * 2; |
| 244 | |||
| 245 | 98318 | const Matrix3s& R = tf1.getRotation(); | |
| 246 | 98318 | const bool left_hand = (id[0] == (id[1] + 1) % 3); | |
| 247 |
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98318 | if (left_hand) |
| 248 |
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68941 | bv2.axes.col(0) = -R.col(id[0]); |
| 249 | else | ||
| 250 |
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29377 | bv2.axes.col(0) = R.col(id[0]); |
| 251 |
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98318 | bv2.axes.col(1) = R.col(id[1]); |
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98318 | bv2.axes.col(2) = R.col(id[2]); |
| 253 | 98318 | } | |
| 254 | |||
| 255 | 98318 | static void convert(const AABB& bv1, RSS& bv2) { | |
| 256 |
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98318 | convert(bv1, Transform3s(), bv2); |
| 257 | 98318 | } | |
| 258 | }; | ||
| 259 | |||
| 260 | template <> | ||
| 261 | struct Converter<AABB, OBBRSS> { | ||
| 262 | static void convert(const AABB& bv1, const Transform3s& tf1, OBBRSS& bv2) { | ||
| 263 | Converter<AABB, OBB>::convert(bv1, tf1, bv2.obb); | ||
| 264 | Converter<AABB, RSS>::convert(bv1, tf1, bv2.rss); | ||
| 265 | } | ||
| 266 | |||
| 267 | 98318 | static void convert(const AABB& bv1, OBBRSS& bv2) { | |
| 268 | 98318 | Converter<AABB, OBB>::convert(bv1, bv2.obb); | |
| 269 | 98318 | Converter<AABB, RSS>::convert(bv1, bv2.rss); | |
| 270 | 98318 | } | |
| 271 | }; | ||
| 272 | |||
| 273 | } // namespace details | ||
| 274 | |||
| 275 | /// @endcond | ||
| 276 | |||
| 277 | /// @brief Convert a bounding volume of type BV1 in configuration tf1 to | ||
| 278 | /// bounding volume of type BV2 in identity configuration. | ||
| 279 | template <typename BV1, typename BV2> | ||
| 280 | 402319 | static inline void convertBV(const BV1& bv1, const Transform3s& tf1, BV2& bv2) { | |
| 281 | 402319 | details::Converter<BV1, BV2>::convert(bv1, tf1, bv2); | |
| 282 | 402319 | } | |
| 283 | |||
| 284 | /// @brief Convert a bounding volume of type BV1 to bounding volume of type BV2 | ||
| 285 | /// in identity configuration. | ||
| 286 | template <typename BV1, typename BV2> | ||
| 287 | 412294 | static inline void convertBV(const BV1& bv1, BV2& bv2) { | |
| 288 | 412294 | details::Converter<BV1, BV2>::convert(bv1, bv2); | |
| 289 | 412294 | } | |
| 290 | |||
| 291 | } // namespace coal | ||
| 292 | |||
| 293 | #endif | ||
| 294 |