Directory: | ./ |
---|---|
File: | python/gjk.cc |
Date: | 2025-04-01 09:23:31 |
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 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | if (!eigenpy::register_symbolic_link_to_registered_type<GJK::Status>()) { |
97 | 10 | enum_<GJK::Status>("GJKStatus") | |
98 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("Failed", GJK::Status::Failed) |
99 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("DidNotRun", GJK::Status::DidNotRun) |
100 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("NoCollision", GJK::Status::NoCollision) |
101 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("NoCollisionEarlyStopped", GJK::Status::NoCollisionEarlyStopped) |
102 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("CollisionWithPenetrationInformation", |
103 | GJK::Status::CollisionWithPenetrationInformation) | ||
104 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("Collision", GJK::Status::Collision) |
105 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .export_values(); |
106 | } | ||
107 | |||
108 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | if (!eigenpy::register_symbolic_link_to_registered_type<MinkowskiDiff>()) { |
109 | 10 | class_<MinkowskiDiff>("MinkowskiDiff", doxygen::class_doc<MinkowskiDiff>(), | |
110 | no_init) | ||
111 |
1/2✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
|
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 |
1/2✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
|
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 |
1/2✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
|
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 |
1/2✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
|
5 | doxygen::member_func_doc( |
133 | &MinkowskiDiff::support0<SupportOptions::NoSweptSphere>)) | ||
134 | |||
135 | 10 | .def("support1", &MinkowskiDiffWrapper::support1, | |
136 |
1/2✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
|
5 | doxygen::member_func_doc( |
137 | &MinkowskiDiff::support1<SupportOptions::NoSweptSphere>)) | ||
138 | |||
139 | 10 | .def("support", &MinkowskiDiff::support, | |
140 |
1/2✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
|
5 | doxygen::member_func_doc(&MinkowskiDiff::support)) |
141 | |||
142 |
2/4✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
|
5 | .DEF_RW_CLASS_ATTRIB(MinkowskiDiff, swept_sphere_radius) |
143 |
2/4✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
|
5 | .DEF_RW_CLASS_ATTRIB(MinkowskiDiff, normalize_support_direction); |
144 | } | ||
145 | |||
146 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | if (!eigenpy::register_symbolic_link_to_registered_type<GJKVariant>()) { |
147 | 10 | enum_<GJKVariant>("GJKVariant") | |
148 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("DefaultGJK", GJKVariant::DefaultGJK) |
149 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("PolyakAcceleration", GJKVariant::PolyakAcceleration) |
150 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("NesterovAcceleration", GJKVariant::NesterovAcceleration) |
151 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .export_values(); |
152 | } | ||
153 | |||
154 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | if (!eigenpy::register_symbolic_link_to_registered_type<GJKInitialGuess>()) { |
155 | 10 | enum_<GJKInitialGuess>("GJKInitialGuess") | |
156 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("DefaultGuess", GJKInitialGuess::DefaultGuess) |
157 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("CachedGuess", GJKInitialGuess::CachedGuess) |
158 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("BoundingVolumeGuess", GJKInitialGuess::BoundingVolumeGuess) |
159 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .export_values(); |
160 | } | ||
161 | |||
162 | 5 | if (!eigenpy::register_symbolic_link_to_registered_type< | |
163 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | GJKConvergenceCriterion>()) { |
164 | 10 | enum_<GJKConvergenceCriterion>("GJKConvergenceCriterion") | |
165 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("Default", GJKConvergenceCriterion::Default) |
166 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("DualityGap", GJKConvergenceCriterion::DualityGap) |
167 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("Hybrid", GJKConvergenceCriterion::Hybrid) |
168 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .export_values(); |
169 | } | ||
170 | |||
171 | 5 | if (!eigenpy::register_symbolic_link_to_registered_type< | |
172 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | GJKConvergenceCriterionType>()) { |
173 | 10 | enum_<GJKConvergenceCriterionType>("GJKConvergenceCriterionType") | |
174 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("Absolute", GJKConvergenceCriterionType::Absolute) |
175 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .value("Relative", GJKConvergenceCriterionType::Relative) |
176 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | .export_values(); |
177 | } | ||
178 | |||
179 |
1/2✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
|
5 | if (!eigenpy::register_symbolic_link_to_registered_type<GJK>()) { |
180 | 10 | class_<GJK>("GJK", doxygen::class_doc<GJK>(), no_init) | |
181 |
1/2✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
|
5 | .def(doxygen::visitor::init<GJK, unsigned int, Scalar>()) |
182 |
1/2✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
|
5 | .DEF_RW_CLASS_ATTRIB(GJK, distance) |
183 |
1/2✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
|
5 | .DEF_RW_CLASS_ATTRIB(GJK, ray) |
184 |
1/2✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
|
5 | .DEF_RW_CLASS_ATTRIB(GJK, support_hint) |
185 |
1/2✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
|
5 | .DEF_RW_CLASS_ATTRIB(GJK, gjk_variant) |
186 |
1/2✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
|
5 | .DEF_RW_CLASS_ATTRIB(GJK, convergence_criterion) |
187 |
1/2✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
|
5 | .DEF_RW_CLASS_ATTRIB(GJK, convergence_criterion_type) |
188 |
2/4✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
|
5 | .DEF_CLASS_FUNC(GJK, reset) |
189 |
2/4✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
|
5 | .DEF_CLASS_FUNC(GJK, evaluate) |
190 |
2/4✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
|
5 | .DEF_CLASS_FUNC(GJK, getTolerance) |
191 |
2/4✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
|
5 | .DEF_CLASS_FUNC(GJK, getNumMaxIterations) |
192 |
2/4✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
|
5 | .DEF_CLASS_FUNC(GJK, getNumIterations) |
193 |
2/4✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
|
5 | .DEF_CLASS_FUNC(GJK, getNumIterationsMomentumStopped) |
194 |
2/4✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
|
5 | .DEF_CLASS_FUNC(GJK, hasClosestPoints) |
195 |
2/4✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
|
5 | .DEF_CLASS_FUNC(GJK, getWitnessPointsAndNormal) |
196 |
2/4✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
|
5 | .DEF_CLASS_FUNC(GJK, setDistanceEarlyBreak) |
197 |
2/4✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
|
5 | .DEF_CLASS_FUNC(GJK, getGuessFromSimplex); |
198 | } | ||
199 | 5 | } | |
200 |