GCC Code Coverage Report

Directory: ./
File: test/distance_lower_bound.cpp
Date: 2025-04-13 14:25:19
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Lines: 127 127 100.0%
Branches: 337 656 51.4%
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1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2014-2016, CNRS-LAAS
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
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18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 */
34
35 #define BOOST_TEST_MODULE COAL_DISTANCE_LOWER_BOUND
36 #include <boost/test/included/unit_test.hpp>
37 #include <boost/filesystem.hpp>
38
39 #include "coal/fwd.hh"
40 #include "coal/data_types.h"
41 #include "coal/BV/OBBRSS.h"
42 #include "coal/BVH/BVH_model.h"
43 #include "coal/narrowphase/narrowphase.h"
44 #include "coal/collision.h"
45 #include "coal/distance.h"
46 #include "utility.h"
47 #include "fcl_resources/config.h"
48
49 using coal::BVHModel;
50 using coal::CollisionGeometryPtr_t;
51 using coal::CollisionObject;
52 using coal::CollisionRequest;
53 using coal::CollisionResult;
54 using coal::DistanceRequest;
55 using coal::DistanceResult;
56 using coal::OBBRSS;
57 using coal::Scalar;
58 using coal::shared_ptr;
59 using coal::Transform3s;
60 using coal::Triangle;
61 using coal::Vec3s;
62
63 2202 bool testDistanceLowerBound(const Transform3s& tf,
64 const CollisionGeometryPtr_t& m1,
65 const CollisionGeometryPtr_t& m2,
66 Scalar& distance) {
67
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 2202 Transform3s pose1(tf), pose2;
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 2202 CollisionRequest request;
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 2202 CollisionResult result;
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 2202 CollisionObject co1(m1, pose1);
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 2202 CollisionObject co2(m2, pose2);
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 2202 coal::collide(&co1, &co2, request, result);
76 2202 distance = result.distance_lower_bound;
77
78 4404 return result.isCollision();
79 2202 }
80
81 100 bool testCollide(const Transform3s& tf, const CollisionGeometryPtr_t& m1,
82 const CollisionGeometryPtr_t& m2) {
83
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 100 Transform3s pose1(tf), pose2;
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 100 CollisionRequest request(coal::NO_REQUEST, 1);
86 100 request.enable_distance_lower_bound = false;
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 100 CollisionResult result;
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 100 CollisionObject co1(m1, pose1);
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 100 CollisionObject co2(m2, pose2);
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 100 coal::collide(&co1, &co2, request, result);
93 200 return result.isCollision();
94 100 }
95
96 2202 bool testDistance(const Transform3s& tf, const CollisionGeometryPtr_t& m1,
97 const CollisionGeometryPtr_t& m2, Scalar& distance) {
98
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 2202 Transform3s pose1(tf), pose2;
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 2202 DistanceRequest request;
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 2202 DistanceResult result;
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 2202 CollisionObject co1(m1, pose1);
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 2202 CollisionObject co2(m2, pose2);
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 2202 coal::distance(&co1, &co2, request, result);
106 2202 distance = result.min_distance;
107
108
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 2202 if (result.min_distance <= 0) {
109 417 return true;
110 } else {
111 1785 return false;
112 }
113 2202 }
114
115
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 4 BOOST_AUTO_TEST_CASE(mesh_mesh) {
116 2 std::vector<Vec3s> p1, p2;
117 2 std::vector<Triangle> t1, t2;
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 2 boost::filesystem::path path(TEST_RESOURCES_DIR);
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 2 loadOBJFile((path / "env.obj").string().c_str(), p1, t1);
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 2 loadOBJFile((path / "rob.obj").string().c_str(), p2, t2);
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 2 shared_ptr<BVHModel<OBBRSS> > m1(new BVHModel<OBBRSS>);
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 2 shared_ptr<BVHModel<OBBRSS> > m2(new BVHModel<OBBRSS>);
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 2 m1->beginModel();
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 2 m1->addSubModel(p1, t1);
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 2 m1->endModel();
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 2 m2->beginModel();
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 2 m2->addSubModel(p2, t2);
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 2 m2->endModel();
133
134 2 std::vector<Transform3s> transforms;
135 2 Scalar extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
136 2 std::size_t n = 100;
137
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 2 generateRandomTransforms(extents, transforms, n);
139
140 // collision
141
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 202 for (std::size_t i = 0; i < transforms.size(); ++i) {
142 Scalar distanceLowerBound, distance;
143 bool col1, col2, col3;
144
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 200 col1 = testDistanceLowerBound(transforms[i], m1, m2, distanceLowerBound);
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 200 col2 = testDistance(transforms[i], m1, m2, distance);
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 200 col3 = testCollide(transforms[i], m1, m2);
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 200 std::cout << "col1 = " << col1 << ", col2 = " << col2 << ", col3 = " << col3
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 200 << std::endl;
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 200 std::cout << "distance lower bound = " << distanceLowerBound << std::endl;
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 200 std::cout << "distance = " << distance << std::endl;
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 200 BOOST_CHECK(col1 == col3);
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 200 if (!col1) {
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 120 BOOST_CHECK_MESSAGE(distanceLowerBound <= distance,
154 "distance = " << distance << ", lower bound = "
155 << distanceLowerBound);
156 }
157 }
158 2 }
159
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 4 BOOST_AUTO_TEST_CASE(box_sphere) {
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 2 shared_ptr<coal::Sphere> sphere(new coal::Sphere(0.5));
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 2 shared_ptr<coal::Box> box(new coal::Box(1., 1., 1.));
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 2 Transform3s M1;
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 2 M1.setIdentity();
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 2 Transform3s M2;
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 2 M2.setIdentity();
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169 2 std::vector<Transform3s> transforms;
170 2 Scalar extents[] = {-2., -2., -2., 2., 2., 2.};
171 2 const std::size_t n = 1000;
172
173
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 2 generateRandomTransforms(extents, transforms, n);
174
175 Scalar distanceLowerBound, distance;
176 bool col1, col2;
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 2 col1 = testDistanceLowerBound(M1, sphere, box, distanceLowerBound);
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 2 col2 = testDistance(M1, sphere, box, distance);
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 2 BOOST_CHECK(col1 == col2);
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 2 BOOST_CHECK(distanceLowerBound <= distance);
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 2002 for (std::size_t i = 0; i < transforms.size(); ++i) {
183 Scalar distanceLowerBound, distance;
184 bool col1, col2;
185 col1 =
186
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 2000 testDistanceLowerBound(transforms[i], sphere, box, distanceLowerBound);
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 2000 col2 = testDistance(transforms[i], sphere, box, distance);
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 2000 BOOST_CHECK(col1 == col2);
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 2000 if (!col1) {
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 1742 BOOST_CHECK_MESSAGE(distanceLowerBound <= distance,
191 "distance = " << distance << ", lower bound = "
192 << distanceLowerBound);
193 }
194 }
195 2 }
196
197
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 4 BOOST_AUTO_TEST_CASE(sphere_sphere) {
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 2 shared_ptr<coal::Sphere> sphere1(new coal::Sphere(0.5));
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 2 shared_ptr<coal::Sphere> sphere2(new coal::Sphere(1.));
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 2 Transform3s M1;
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 2 M1.setIdentity();
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 2 Transform3s M2;
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 2 M2.setIdentity();
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206 2 std::vector<Transform3s> transforms;
207 2 Scalar extents[] = {-2., -2., -2., 2., 2., 2.};
208 2 const std::size_t n = 1000;
209
210
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 2 generateRandomTransforms(extents, transforms, n);
211
212 Scalar distanceLowerBound, distance;
213 bool col1, col2;
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 2 col1 = testDistanceLowerBound(M1, sphere1, sphere2, distanceLowerBound);
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 2 col2 = testDistance(M1, sphere1, sphere2, distance);
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 2 BOOST_CHECK(col1 == col2);
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 2 BOOST_CHECK(distanceLowerBound <= distance);
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 2002 for (std::size_t i = 0; i < transforms.size(); ++i) {
220 Scalar distanceLowerBound, distance;
221 bool col1, col2;
222
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 2000 col1 = testDistanceLowerBound(transforms[i], sphere1, sphere2,
223 distanceLowerBound);
224
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 2000 col2 = testDistance(transforms[i], sphere1, sphere2, distance);
225
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 2000 BOOST_CHECK(col1 == col2);
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 2000 if (!col1) {
227
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 1548 BOOST_CHECK_MESSAGE(distanceLowerBound <= distance,
228 "distance = " << distance << ", lower bound = "
229 << distanceLowerBound);
230 }
231 }
232 2 }
233
234
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 4 BOOST_AUTO_TEST_CASE(box_mesh) {
235 2 std::vector<Vec3s> p1;
236 2 std::vector<Triangle> t1;
237
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238
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 2 loadOBJFile((path / "env.obj").string().c_str(), p1, t1);
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 2 shared_ptr<BVHModel<OBBRSS> > m1(new BVHModel<OBBRSS>);
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 2 shared_ptr<coal::Box> m2(new coal::Box(500, 200, 150));
243
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 2 m1->beginModel();
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 2 m1->addSubModel(p1, t1);
246
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 2 m1->endModel();
247
248 2 std::vector<Transform3s> transforms;
249 2 Scalar extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
250 2 std::size_t n = 100;
251
252
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 2 generateRandomTransforms(extents, transforms, n);
253
254 // collision
255
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 202 for (std::size_t i = 0; i < transforms.size(); ++i) {
256 Scalar distanceLowerBound, distance;
257 bool col1, col2;
258
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 200 col1 = testDistanceLowerBound(transforms[i], m1, m2, distanceLowerBound);
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 200 col2 = testDistance(transforms[i], m1, m2, distance);
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 200 BOOST_CHECK(col1 == col2);
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 200 if (!col1) {
262
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 160 BOOST_CHECK_MESSAGE(distanceLowerBound <= distance,
263 "distance = " << distance << ", lower bound = "
264 << distanceLowerBound);
265 }
266 }
267 2 }
268