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Directory: ./
File: include/coal/distance.h
Date: 2025-04-01 09:23:31
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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_DISTANCE_H
39 #define COAL_DISTANCE_H
40
41 #include "coal/collision_object.h"
42 #include "coal/collision_data.h"
43 #include "coal/distance_func_matrix.h"
44 #include "coal/timings.h"
45
46 namespace coal {
47
48 /// @brief Main distance interface: given two collision objects, and the
49 /// requirements for contacts, including whether return the nearest points, this
50 /// function performs the distance between them. Return value is the minimum
51 /// distance generated between the two objects.
52 COAL_DLLAPI Scalar distance(const CollisionObject* o1,
53 const CollisionObject* o2,
54 const DistanceRequest& request,
55 DistanceResult& result);
56
57 /// @copydoc distance(const CollisionObject*, const CollisionObject*, const
58 /// DistanceRequest&, DistanceResult&)
59 COAL_DLLAPI Scalar distance(const CollisionGeometry* o1, const Transform3s& tf1,
60 const CollisionGeometry* o2, const Transform3s& tf2,
61 const DistanceRequest& request,
62 DistanceResult& result);
63
64 /// This class reduces the cost of identifying the geometry pair.
65 /// This is mostly useful for repeated shape-shape queries.
66 ///
67 /// \code
68 /// ComputeDistance calc_distance (o1, o2);
69 /// Scalar distance = calc_distance(tf1, tf2, request, result);
70 /// \endcode
71 class COAL_DLLAPI ComputeDistance {
72 public:
73 ComputeDistance(const CollisionGeometry* o1, const CollisionGeometry* o2);
74
75 Scalar operator()(const Transform3s& tf1, const Transform3s& tf2,
76 const DistanceRequest& request,
77 DistanceResult& result) const;
78
79 bool operator==(const ComputeDistance& other) const {
80 return o1 == other.o1 && o2 == other.o2 && swap_geoms == other.swap_geoms &&
81 solver == other.solver && func == other.func;
82 }
83
84 bool operator!=(const ComputeDistance& other) const {
85 return !(*this == other);
86 }
87
88 virtual ~ComputeDistance() {};
89
90 protected:
91 // These pointers are made mutable to let the derived classes to update
92 // their values when updating the collision geometry (e.g. creating a new
93 // one). This feature should be used carefully to avoid any mis usage (e.g,
94 // changing the type of the collision geometry should be avoided).
95 mutable const CollisionGeometry* o1;
96 mutable const CollisionGeometry* o2;
97
98 mutable GJKSolver solver;
99
100 DistanceFunctionMatrix::DistanceFunc func;
101 bool swap_geoms;
102
103 virtual Scalar run(const Transform3s& tf1, const Transform3s& tf2,
104 const DistanceRequest& request,
105 DistanceResult& result) const;
106
107 public:
108 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
109 };
110
111 } // namespace coal
112
113 #endif
114