GCC Code Coverage Report

Directory: ./
File: python/gjk.cc
Date: 2025-04-13 14:25:19
Exec Total Coverage
Lines: 70 86 81.4%
Branches: 66 140 47.1%
Line Branch Exec Source
1 //
2 // Software License Agreement (BSD License)
3 //
4 // Copyright (c) 2020 CNRS-LAAS
5 // Author: Joseph Mirabel
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 CNRS-LAAS. 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 #include <eigenpy/eigenpy.hpp>
36
37 #include "coal.hh"
38
39 #include "coal/fwd.hh"
40 #include "coal/narrowphase/gjk.h"
41
42 #ifdef COAL_HAS_DOXYGEN_AUTODOC
43 #include "doxygen_autodoc/functions.h"
44 #include "doxygen_autodoc/coal/narrowphase/gjk.h"
45 #endif
46
47 using namespace boost::python;
48 using namespace coal;
49 using coal::details::EPA;
50 using coal::details::GJK;
51 using coal::details::MinkowskiDiff;
52 using coal::details::SupportOptions;
53
54 struct MinkowskiDiffWrapper {
55 ✗ static void support0(MinkowskiDiff& self, const Vec3s& dir, int& hint,
56 bool compute_swept_sphere_support = false) {
57 ✗ if (compute_swept_sphere_support) {
58 ✗ self.support0<SupportOptions::WithSweptSphere>(dir, hint);
59 } else {
60 ✗ self.support0<SupportOptions::NoSweptSphere>(dir, hint);
61 }
62 }
63
64 ✗ static void support1(MinkowskiDiff& self, const Vec3s& dir, int& hint,
65 bool compute_swept_sphere_support = false) {
66 ✗ if (compute_swept_sphere_support) {
67 ✗ self.support1<SupportOptions::WithSweptSphere>(dir, hint);
68 } else {
69 ✗ self.support1<SupportOptions::NoSweptSphere>(dir, hint);
70 }
71 }
72
73 ✗ static void set(MinkowskiDiff& self, const ShapeBase* shape0,
74 const ShapeBase* shape1,
75 bool compute_swept_sphere_support = false) {
76 ✗ if (compute_swept_sphere_support) {
77 ✗ self.set<SupportOptions::WithSweptSphere>(shape0, shape1);
78 } else {
79 ✗ self.set<SupportOptions::NoSweptSphere>(shape0, shape1);
80 }
81 }
82
83 ✗ static void set(MinkowskiDiff& self, const ShapeBase* shape0,
84 const ShapeBase* shape1, const Transform3s& tf0,
85 const Transform3s& tf1,
86 bool compute_swept_sphere_supports = false) {
87 ✗ if (compute_swept_sphere_supports) {
88 ✗ self.set<SupportOptions::WithSweptSphere>(shape0, shape1, tf0, tf1);
89 } else {
90 ✗ self.set<SupportOptions::NoSweptSphere>(shape0, shape1, tf0, tf1);
91 }
92 }
93 };
94
95 5 void exposeGJK() {
96
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 5 if (!eigenpy::register_symbolic_link_to_registered_type<GJK::Status>()) {
97 10 enum_<GJK::Status>("GJKStatus")
98
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 5 .value("Failed", GJK::Status::Failed)
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 5 .value("DidNotRun", GJK::Status::DidNotRun)
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 5 .value("NoCollision", GJK::Status::NoCollision)
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 5 .value("NoCollisionEarlyStopped", GJK::Status::NoCollisionEarlyStopped)
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 5 .value("CollisionWithPenetrationInformation",
103 GJK::Status::CollisionWithPenetrationInformation)
104
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 5 .value("Collision", GJK::Status::Collision)
105
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 5 .export_values();
106 }
107
108
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 5 if (!eigenpy::register_symbolic_link_to_registered_type<MinkowskiDiff>()) {
109 10 class_<MinkowskiDiff>("MinkowskiDiff", doxygen::class_doc<MinkowskiDiff>(),
110 no_init)
111
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 5 .def(doxygen::visitor::init<MinkowskiDiff>())
112 10 .def("set",
113 static_cast<void (*)(MinkowskiDiff&, const ShapeBase*,
114 const ShapeBase*, bool)>(
115 &MinkowskiDiffWrapper::set),
116
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 5 doxygen::member_func_doc(static_cast<void (MinkowskiDiff::*)(
117 const ShapeBase*, const ShapeBase*)>(
118 &MinkowskiDiff::set<SupportOptions::NoSweptSphere>)))
119
120 10 .def("set",
121 static_cast<void (*)(MinkowskiDiff&, const ShapeBase*,
122 const ShapeBase*, const Transform3s&,
123 const Transform3s&, bool)>(
124 &MinkowskiDiffWrapper::set),
125
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 5 doxygen::member_func_doc(
126 static_cast<void (MinkowskiDiff::*)(
127 const ShapeBase*, const ShapeBase*, const Transform3s&,
128 const Transform3s&)>(
129 &MinkowskiDiff::set<SupportOptions::NoSweptSphere>)))
130
131 10 .def("support0", &MinkowskiDiffWrapper::support0,
132
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 5 doxygen::member_func_doc(
133 &MinkowskiDiff::support0<SupportOptions::NoSweptSphere>))
134
135 10 .def("support1", &MinkowskiDiffWrapper::support1,
136
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 5 doxygen::member_func_doc(
137 &MinkowskiDiff::support1<SupportOptions::NoSweptSphere>))
138
139 10 .def("support", &MinkowskiDiff::support,
140
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 5 doxygen::member_func_doc(&MinkowskiDiff::support))
141
142
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 5 .DEF_RW_CLASS_ATTRIB(MinkowskiDiff, swept_sphere_radius)
143
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 5 .DEF_RW_CLASS_ATTRIB(MinkowskiDiff, normalize_support_direction);
144 }
145
146
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 5 if (!eigenpy::register_symbolic_link_to_registered_type<GJKVariant>()) {
147 10 enum_<GJKVariant>("GJKVariant")
148
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 5 .value("DefaultGJK", GJKVariant::DefaultGJK)
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 5 .value("PolyakAcceleration", GJKVariant::PolyakAcceleration)
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 5 .value("NesterovAcceleration", GJKVariant::NesterovAcceleration)
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 5 .export_values();
152 }
153
154
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 5 if (!eigenpy::register_symbolic_link_to_registered_type<GJKInitialGuess>()) {
155 10 enum_<GJKInitialGuess>("GJKInitialGuess")
156
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 5 .value("DefaultGuess", GJKInitialGuess::DefaultGuess)
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 5 .value("CachedGuess", GJKInitialGuess::CachedGuess)
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 5 .value("BoundingVolumeGuess", GJKInitialGuess::BoundingVolumeGuess)
159
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 5 .export_values();
160 }
161
162 5 if (!eigenpy::register_symbolic_link_to_registered_type<
163
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 5 GJKConvergenceCriterion>()) {
164 10 enum_<GJKConvergenceCriterion>("GJKConvergenceCriterion")
165
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 5 .value("Default", GJKConvergenceCriterion::Default)
166
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 5 .value("DualityGap", GJKConvergenceCriterion::DualityGap)
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 5 .value("Hybrid", GJKConvergenceCriterion::Hybrid)
168
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 5 .export_values();
169 }
170
171 5 if (!eigenpy::register_symbolic_link_to_registered_type<
172
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 5 GJKConvergenceCriterionType>()) {
173 10 enum_<GJKConvergenceCriterionType>("GJKConvergenceCriterionType")
174
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 5 .value("Absolute", GJKConvergenceCriterionType::Absolute)
175
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 5 .value("Relative", GJKConvergenceCriterionType::Relative)
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 5 .export_values();
177 }
178
179
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 5 if (!eigenpy::register_symbolic_link_to_registered_type<GJK>()) {
180 10 class_<GJK>("GJK", doxygen::class_doc<GJK>(), no_init)
181
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 5 .def(doxygen::visitor::init<GJK, unsigned int, Scalar>())
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 5 .DEF_RW_CLASS_ATTRIB(GJK, distance)
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 5 .DEF_RW_CLASS_ATTRIB(GJK, ray)
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 5 .DEF_RW_CLASS_ATTRIB(GJK, support_hint)
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 5 .DEF_RW_CLASS_ATTRIB(GJK, gjk_variant)
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 5 .DEF_RW_CLASS_ATTRIB(GJK, convergence_criterion)
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 5 .DEF_RW_CLASS_ATTRIB(GJK, convergence_criterion_type)
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 5 .DEF_CLASS_FUNC(GJK, reset)
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 5 .DEF_CLASS_FUNC(GJK, evaluate)
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 5 .DEF_CLASS_FUNC(GJK, getTolerance)
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 5 .DEF_CLASS_FUNC(GJK, getNumMaxIterations)
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 5 .DEF_CLASS_FUNC(GJK, getNumIterations)
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 5 .DEF_CLASS_FUNC(GJK, getNumIterationsMomentumStopped)
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 5 .DEF_CLASS_FUNC(GJK, hasClosestPoints)
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 5 .DEF_CLASS_FUNC(GJK, getWitnessPointsAndNormal)
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 5 .DEF_CLASS_FUNC(GJK, setDistanceEarlyBreak)
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 5 .DEF_CLASS_FUNC(GJK, getGuessFromSimplex);
198 }
199 5 }
200