GCC Code Coverage Report

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			* Copyright (c) 2023, Inria
7			* All rights reserved.
8			*
9			* Redistribution and use in source and binary forms, with or without
10			* modification, are permitted provided that the following conditions
11			* are met:
12			*
13			* * Redistributions of source code must retain the above copyright
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15			* * Redistributions in binary form must reproduce the above
16			* copyright notice, this list of conditions and the following
17			* disclaimer in the documentation and/or other materials provided
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20			* contributors may be used to endorse or promote products derived
21			* from this software without specific prior written permission.
22			*
23			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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31			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34			* POSSIBILITY OF SUCH DAMAGE.
35			*/
36
37			/** \author Jia Pan */
38
39			#ifndef COAL_DATA_TYPES_H
40			#define COAL_DATA_TYPES_H
41
42			#include <Eigen/Core>
43			#include <Eigen/Geometry>
44
45			#include "coal/config.hh"
46			#include "coal/deprecated.hh"
47
48			#ifdef COAL_HAS_OCTOMAP
49			#define OCTOMAP_VERSION_AT_LEAST(x, y, z) \
50			(OCTOMAP_MAJOR_VERSION > x \|\| \
51			(OCTOMAP_MAJOR_VERSION >= x && \
52			(OCTOMAP_MINOR_VERSION > y \|\| \
53			(OCTOMAP_MINOR_VERSION >= y && OCTOMAP_PATCH_VERSION >= z))))
54
55			#define OCTOMAP_VERSION_AT_MOST(x, y, z) \
56			(OCTOMAP_MAJOR_VERSION < x \|\| \
57			(OCTOMAP_MAJOR_VERSION <= x && \
58			(OCTOMAP_MINOR_VERSION < y \|\| \
59			(OCTOMAP_MINOR_VERSION <= y && OCTOMAP_PATCH_VERSION <= z))))
60			#endif // COAL_HAS_OCTOMAP
61
62			namespace coal {
63			#ifdef COAL_USE_FLOAT_PRECISION
64			COAL_DEPRECATED typedef float CoalScalar;
65			typedef float Scalar;
66			#else
67			COAL_DEPRECATED typedef double CoalScalar;
68			typedef double Scalar;
69			#endif
70			typedef Eigen::Matrix<Scalar, 3, 1> Vec3s;
71			typedef Eigen::Matrix<Scalar, 2, 1> Vec2s;
72			typedef Eigen::Matrix<Scalar, 6, 1> Vec6s;
73			typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> VecXs;
74			typedef Eigen::Matrix<Scalar, 3, 3> Matrix3s;
75			typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 3, Eigen::RowMajor> MatrixX3s;
76			typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 2, Eigen::RowMajor> MatrixX2s;
77			typedef Eigen::Matrix<Eigen::DenseIndex, Eigen::Dynamic, 3, Eigen::RowMajor>
78			Matrixx3i;
79			typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> MatrixXs;
80			typedef Eigen::Vector2i support_func_guess_t;
81
82			typedef double SolverScalar;
83			typedef Eigen::Matrix<SolverScalar, 3, 1> Vec3ps;
84
85			#ifdef COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL
86			// We keep the FCL_REAL typedef and the Vec[..]f typedefs for backward
87			// compatibility.
88			typedef Scalar FCL_REAL;
89			typedef Vec3s Vec3f;
90			typedef Vec2s Vec2f;
91			typedef Vec6s Vec6f;
92			typedef VecXs VecXf;
93			typedef Matrix3s Matrix3f;
94			typedef MatrixX3s Matrixx3f;
95			typedef MatrixX2s Matrixx2f;
96			typedef MatrixXs MatrixXf;
97			#endif
98
99			/// @brief Initial guess to use for the GJK algorithm
100			/// DefaultGuess: Vec3s(1, 0, 0)
101			/// CachedGuess: previous vector found by GJK or guess cached by the user
102			/// BoundingVolumeGuess: guess using the centers of the shapes' AABB
103			/// WARNING: to use BoundingVolumeGuess, computeLocalAABB must have been called
104			/// on the two shapes.
105			enum GJKInitialGuess { DefaultGuess, CachedGuess, BoundingVolumeGuess };
106
107			/// @brief Variant to use for the GJK algorithm
108			enum GJKVariant { DefaultGJK, PolyakAcceleration, NesterovAcceleration };
109
110			/// @brief Which convergence criterion is used to stop the algorithm (when the
111			/// shapes are not in collision). (default) VDB: Van den Bergen (A Fast and
112			/// Robust GJK Implementation, 1999) DG: duality-gap, as used in the Frank-Wolfe
113			/// and the vanilla 1988 GJK algorithms Hybrid: a mix between VDB and DG.
114			enum GJKConvergenceCriterion { Default, DualityGap, Hybrid };
115
116			/// @brief Wether the convergence criterion is scaled on the norm of the
117			/// solution or not
118			enum GJKConvergenceCriterionType { Relative, Absolute };
119
120			/// @brief Triangle with 3 indices for points
121			class COAL_DLLAPI Triangle {
122			public:
123			typedef std::size_t index_type;
124			typedef int size_type;
125
126			/// @brief Default constructor
127		2643337	Triangle() {}
128
129			/// @brief Create a triangle with given vertex indices
130		613879	Triangle(index_type p1, index_type p2, index_type p3) { set(p1, p2, p3); }
131
132			/// @brief Set the vertex indices of the triangle
133		2105954	inline void set(index_type p1, index_type p2, index_type p3) {
134		2105954	vids[0] = p1;
135		2105954	vids[1] = p2;
136		2105954	vids[2] = p3;
137		2105954	}
138
139			/// @brief Access the triangle index
140		338997625	inline index_type operator[](index_type i) const { return vids[i]; }
141
142		12496558	inline index_type& operator[](index_type i) { return vids[i]; }
143
144		2458905	static inline size_type size() { return 3; }
145
146		44032	bool operator==(const Triangle& other) const {
147	2/4 ✓ Branch 0 taken 44032 times. ✗ Branch 1 not taken. ✓ Branch 2 taken 44032 times. ✗ Branch 3 not taken.	88064	return vids[0] == other.vids[0] && vids[1] == other.vids[1] &&
148	1/2 ✓ Branch 0 taken 44032 times. ✗ Branch 1 not taken.	88064	vids[2] == other.vids[2];
149			}
150
151		41636	bool operator!=(const Triangle& other) const { return !(*this == other); }
152
153		87	bool isValid() const {
154	1/2 ✓ Branch 1 taken 87 times. ✗ Branch 2 not taken.	174	return vids[0] != (std::numeric_limits<index_type>::max)() &&
155	2/4 ✓ Branch 0 taken 87 times. ✗ Branch 1 not taken. ✓ Branch 3 taken 87 times. ✗ Branch 4 not taken.	174	vids[1] != (std::numeric_limits<index_type>::max)() &&
156		174	vids[2] != (std::numeric_limits<index_type>::max)();
157			}
158
159			private:
160			/// @brief indices for each vertex of triangle
161			index_type vids[3] = {(std::numeric_limits<index_type>::max)(),
162			(std::numeric_limits<index_type>::max)(),
163			(std::numeric_limits<index_type>::max)()};
164			};
165
166			/// @brief Quadrilateral with 4 indices for points
167			struct COAL_DLLAPI Quadrilateral {
168			typedef std::size_t index_type;
169			typedef int size_type;
170
171		24	Quadrilateral() {}
172
173			Quadrilateral(index_type p0, index_type p1, index_type p2, index_type p3) {
174			set(p0, p1, p2, p3);
175			}
176
177			/// @brief Set the vertex indices of the quadrilateral
178		24	inline void set(index_type p0, index_type p1, index_type p2, index_type p3) {
179		24	vids[0] = p0;
180		24	vids[1] = p1;
181		24	vids[2] = p2;
182		24	vids[3] = p3;
183		24	}
184
185			/// @access the quadrilateral index
186		288	inline index_type operator[](index_type i) const { return vids[i]; }
187
188		✗	inline index_type& operator[](index_type i) { return vids[i]; }
189
190		144	static inline size_type size() { return 4; }
191
192			bool operator==(const Quadrilateral& other) const {
193			return vids[0] == other.vids[0] && vids[1] == other.vids[1] &&
194			vids[2] == other.vids[2] && vids[3] == other.vids[3];
195			}
196
197			bool operator!=(const Quadrilateral& other) const {
198			return !(*this == other);
199			}
200
201			private:
202			index_type vids[4];
203			};
204
205			} // namespace coal
206
207			#endif
208