GCC Code Coverage Report

Directory: ./
File: include/coal/BV/RSS.h
Date: 2025-06-03 17:15:40
Exec Total Coverage
Lines: 15 18 83.3%
Functions: 5 8 62.5%
Branches: 9 18 50.0%
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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_RSS_H
39 #define COAL_RSS_H
40
41 #include "coal/data_types.h"
42
43 #include <boost/math/constants/constants.hpp>
44
45 namespace coal {
46
47 struct CollisionRequest;
48
49 /// @addtogroup Bounding_Volume
50 /// @{
51
52 /// @brief A class for rectangle sphere-swept bounding volume
53 struct COAL_DLLAPI RSS {
54 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
55
56 /// @brief Orientation of RSS. axis[i] is the ith column of the orientation
57 /// matrix for the RSS; it is also the i-th principle direction of the RSS. We
58 /// assume that axis[0] corresponds to the axis with the longest length,
59 /// axis[1] corresponds to the shorter one and axis[2] corresponds to the
60 /// shortest one.
61 Matrix3s axes;
62
63 /// @brief Origin of the rectangle in RSS
64 Vec3s Tr;
65
66 /// @brief Side lengths of rectangle
67 Scalar length[2];
68
69 /// @brief Radius of sphere summed with rectangle to form RSS
70 Scalar radius;
71
72 ///  @brief Default constructor with default values
73
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 2795376 RSS() : axes(Matrix3s::Zero()), Tr(Vec3s::Zero()), radius(-1) {
74 2795376 length[0] = 0;
75 2795376 length[1] = 0;
76 2795376 }
77
78 /// @brief Equality operator
79 812109 bool operator==(const RSS& other) const {
80
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 1624218 return axes == other.axes && Tr == other.Tr &&
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 2436327 length[0] == other.length[0] && length[1] == other.length[1] &&
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 1624218 radius == other.radius;
83 }
84
85 /// @brief Difference operator
86 bool operator!=(const RSS& other) const { return !(*this == other); }
87
88 /// @brief Check whether the RSS contains a point
89 bool contain(const Vec3s& p) const;
90
91 /// @brief Check collision between two RSS
92 bool overlap(const RSS& other) const;
93
94 /// Not implemented
95 15645 bool overlap(const RSS& other, const CollisionRequest&,
96 Scalar& sqrDistLowerBound) const {
97 15645 sqrDistLowerBound = std::numeric_limits<Scalar>::quiet_NaN();
98 15645 return overlap(other);
99 }
100
101 /// @brief the distance between two RSS; P and Q, if not NULL, return the
102 /// nearest points
103 Scalar distance(const RSS& other, Vec3s* P = NULL, Vec3s* Q = NULL) const;
104
105 /// @brief A simple way to merge the RSS and a point, not compact.
106 /// @todo This function may have some bug.
107 RSS& operator+=(const Vec3s& p);
108
109 /// @brief Merge the RSS and another RSS
110 inline RSS& operator+=(const RSS& other) {
111 *this = *this + other;
112 return *this;
113 }
114
115 /// @brief Return the merged RSS of current RSS and the other one
116 RSS operator+(const RSS& other) const;
117
118 /// @brief Size of the RSS (used in BV_Splitter to order two RSSs)
119 31542 inline Scalar size() const {
120 31542 return (std::sqrt(length[0] * length[0] + length[1] * length[1]) +
121 31542 2 * radius);
122 }
123
124 /// @brief The RSS center
125 98004 inline const Vec3s& center() const { return Tr; }
126
127 /// @brief Width of the RSS
128 ✗ inline Scalar width() const { return length[0] + 2 * radius; }
129
130 /// @brief Height of the RSS
131 ✗ inline Scalar height() const { return length[1] + 2 * radius; }
132
133 /// @brief Depth of the RSS
134 ✗ inline Scalar depth() const { return 2 * radius; }
135
136 /// @brief Volume of the RSS
137 inline Scalar volume() const {
138 return (length[0] * length[1] * 2 * radius +
139 4 * boost::math::constants::pi<Scalar>() * radius * radius *
140 radius);
141 }
142
143 /// @brief Check collision between two RSS and return the overlap part.
144 /// For RSS, we return nothing, as the overlap part of two RSSs usually is not
145 /// a RSS.
146 bool overlap(const RSS& other, RSS& /*overlap_part*/) const {
147 return overlap(other);
148 }
149 };
150
151 /** @} */ // end of Bounding_Volume
152
153 /// @brief distance between two RSS bounding volumes
154 /// P and Q (optional return values) are the closest points in the rectangles,
155 /// not the RSS. But the direction P - Q is the correct direction for cloest
156 /// points Notice that P and Q are both in the local frame of the first RSS (not
157 /// global frame and not even the local frame of object 1)
158 COAL_DLLAPI Scalar distance(const Matrix3s& R0, const Vec3s& T0, const RSS& b1,
159 const RSS& b2, Vec3s* P = NULL, Vec3s* Q = NULL);
160
161 /// @brief Check collision between two RSSs, b1 is in configuration (R0, T0) and
162 /// b2 is in identity.
163 COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const RSS& b1,
164 const RSS& b2);
165
166 /// @brief Check collision between two RSSs, b1 is in configuration (R0, T0) and
167 /// b2 is in identity.
168 COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const RSS& b1,
169 const RSS& b2, const CollisionRequest& request,
170 Scalar& sqrDistLowerBound);
171
172 } // namespace coal
173
174 #endif
175