| Directory: | ./ |
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| File: | test/gjk_convergence_criterion.cpp |
| Date: | 2025-04-01 09:23:31 |
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| Lines: | 70 | 72 | 97.2% |
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| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2022, INRIA | ||
| 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. | ||
| 17 | * * Neither the name of Willow Garage, Inc. nor the names of its | ||
| 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 | ||
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| 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
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| 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 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 | /** \author Louis Montaut */ | ||
| 36 | |||
| 37 | #define BOOST_TEST_MODULE COAL_NESTEROV_GJK | ||
| 38 | #include <boost/test/included/unit_test.hpp> | ||
| 39 | #include <boost/test/tools/old/interface.hpp> | ||
| 40 | |||
| 41 | #include <Eigen/Geometry> | ||
| 42 | #include "coal/data_types.h" | ||
| 43 | #include "coal/narrowphase/narrowphase.h" | ||
| 44 | #include "coal/shape/geometric_shapes.h" | ||
| 45 | #include "coal/internal/tools.h" | ||
| 46 | |||
| 47 | #include "utility.h" | ||
| 48 | |||
| 49 | using coal::Box; | ||
| 50 | using coal::GJKConvergenceCriterion; | ||
| 51 | using coal::GJKConvergenceCriterionType; | ||
| 52 | using coal::GJKSolver; | ||
| 53 | using coal::Scalar; | ||
| 54 | using coal::ShapeBase; | ||
| 55 | using coal::SolverScalar; | ||
| 56 | using coal::support_func_guess_t; | ||
| 57 | using coal::Transform3s; | ||
| 58 | using coal::Vec3ps; | ||
| 59 | using coal::Vec3s; | ||
| 60 | using coal::details::GJK; | ||
| 61 | using coal::details::MinkowskiDiff; | ||
| 62 | using std::size_t; | ||
| 63 | |||
| 64 |
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4 | BOOST_AUTO_TEST_CASE(set_cv_criterion) { |
| 65 |
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2 | GJKSolver solver; |
| 66 |
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2 | GJK gjk(128, Scalar(1e-6)); |
| 67 | |||
| 68 | // Checking defaults | ||
| 69 |
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2 | BOOST_CHECK(solver.gjk.convergence_criterion == |
| 70 | GJKConvergenceCriterion::Default); | ||
| 71 |
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2 | BOOST_CHECK(solver.gjk.convergence_criterion_type == |
| 72 | GJKConvergenceCriterionType::Relative); | ||
| 73 | |||
| 74 |
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2 | BOOST_CHECK(gjk.convergence_criterion == GJKConvergenceCriterion::Default); |
| 75 |
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2 | BOOST_CHECK(gjk.convergence_criterion_type == |
| 76 | GJKConvergenceCriterionType::Relative); | ||
| 77 | |||
| 78 | // Checking set | ||
| 79 | 2 | solver.gjk.convergence_criterion = GJKConvergenceCriterion::DualityGap; | |
| 80 | 2 | gjk.convergence_criterion = GJKConvergenceCriterion::DualityGap; | |
| 81 | 2 | solver.gjk.convergence_criterion_type = GJKConvergenceCriterionType::Absolute; | |
| 82 | 2 | gjk.convergence_criterion_type = GJKConvergenceCriterionType::Absolute; | |
| 83 | |||
| 84 |
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2 | BOOST_CHECK(solver.gjk.convergence_criterion == |
| 85 | GJKConvergenceCriterion::DualityGap); | ||
| 86 |
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2 | BOOST_CHECK(solver.gjk.convergence_criterion_type == |
| 87 | GJKConvergenceCriterionType::Absolute); | ||
| 88 | |||
| 89 |
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2 | BOOST_CHECK(gjk.convergence_criterion == GJKConvergenceCriterion::DualityGap); |
| 90 |
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2 | BOOST_CHECK(gjk.convergence_criterion_type == |
| 91 | GJKConvergenceCriterionType::Absolute); | ||
| 92 | 2 | } | |
| 93 | |||
| 94 | 2 | void test_gjk_cv_criterion(const ShapeBase& shape0, const ShapeBase& shape1, | |
| 95 | const GJKConvergenceCriterionType cv_type) { | ||
| 96 | // Solvers | ||
| 97 | 2 | unsigned int max_iterations = 128; | |
| 98 | // by default GJK uses the VDB convergence criterion, which is relative. | ||
| 99 |
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2 | GJK gjk1(max_iterations, Scalar(1e-6)); |
| 100 | |||
| 101 | Scalar tol; | ||
| 102 |
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2 | switch (cv_type) { |
| 103 | // need to lower the tolerance when absolute | ||
| 104 | 1 | case GJKConvergenceCriterionType::Absolute: | |
| 105 | 1 | tol = Scalar(1e-8); | |
| 106 | 1 | break; | |
| 107 | 1 | case GJKConvergenceCriterionType::Relative: | |
| 108 | 1 | tol = Scalar(1e-6); | |
| 109 | 1 | break; | |
| 110 | ✗ | default: | |
| 111 | ✗ | throw std::logic_error("Wrong convergence criterion type"); | |
| 112 | } | ||
| 113 | |||
| 114 |
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2 | GJK gjk2(max_iterations, tol); |
| 115 | 2 | gjk2.convergence_criterion = GJKConvergenceCriterion::DualityGap; | |
| 116 | 2 | gjk2.convergence_criterion_type = cv_type; | |
| 117 | |||
| 118 |
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2 | GJK gjk3(max_iterations, tol); |
| 119 | 2 | gjk3.convergence_criterion = GJKConvergenceCriterion::Hybrid; | |
| 120 | 2 | gjk3.convergence_criterion_type = cv_type; | |
| 121 | |||
| 122 | // Minkowski difference | ||
| 123 |
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4 | MinkowskiDiff mink_diff; |
| 124 | |||
| 125 | // Generate random transforms | ||
| 126 | 2 | size_t n = 1000; | |
| 127 | 2 | Scalar extents[] = {-3., -3., 0, 3., 3., 3.}; | |
| 128 | 4 | std::vector<Transform3s> transforms; | |
| 129 |
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2 | generateRandomTransforms(extents, transforms, n); |
| 130 |
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2 | Transform3s identity = Transform3s::Identity(); |
| 131 | |||
| 132 | // Same init for both solvers | ||
| 133 |
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2 | Vec3s init_guess = Vec3s(1, 0, 0); |
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2 | support_func_guess_t init_support_guess; |
| 135 |
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2 | init_support_guess.setZero(); |
| 136 | |||
| 137 | // Run for 3 different cv criterions | ||
| 138 |
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2002 | for (size_t i = 0; i < n; ++i) { |
| 139 |
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2000 | mink_diff.set<false>(&shape0, &shape1, identity, transforms[i]); |
| 140 | |||
| 141 |
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2000 | GJK::Status res1 = gjk1.evaluate(mink_diff, init_guess.cast<SolverScalar>(), |
| 142 | init_support_guess); | ||
| 143 |
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2000 | BOOST_CHECK(gjk1.getNumIterations() <= max_iterations); |
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2000 | Vec3ps ray1 = gjk1.ray; |
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2000 | res1 = gjk1.evaluate(mink_diff, init_guess.cast<SolverScalar>(), |
| 146 | init_support_guess); | ||
| 147 |
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2000 | BOOST_CHECK(res1 != GJK::Status::Failed); |
| 148 |
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2000 | EIGEN_VECTOR_IS_APPROX(gjk1.ray, ray1, SolverScalar(1e-8)); |
| 149 | |||
| 150 |
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2000 | GJK::Status res2 = gjk2.evaluate(mink_diff, init_guess.cast<SolverScalar>(), |
| 151 | init_support_guess); | ||
| 152 |
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2000 | BOOST_CHECK(gjk2.getNumIterations() <= max_iterations); |
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2000 | Vec3ps ray2 = gjk2.ray; |
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2000 | res2 = gjk2.evaluate(mink_diff, init_guess.cast<SolverScalar>(), |
| 155 | init_support_guess); | ||
| 156 |
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2000 | BOOST_CHECK(res2 != GJK::Status::Failed); |
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2000 | EIGEN_VECTOR_IS_APPROX(gjk2.ray, ray2, SolverScalar(1e-8)); |
| 158 | |||
| 159 |
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2000 | GJK::Status res3 = gjk3.evaluate(mink_diff, init_guess.cast<SolverScalar>(), |
| 160 | init_support_guess); | ||
| 161 |
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2000 | BOOST_CHECK(gjk3.getNumIterations() <= max_iterations); |
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2000 | Vec3ps ray3 = gjk3.ray; |
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2000 | res3 = gjk3.evaluate(mink_diff, init_guess.cast<SolverScalar>(), |
| 164 | init_support_guess); | ||
| 165 |
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2000 | BOOST_CHECK(res3 != GJK::Status::Failed); |
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2000 | EIGEN_VECTOR_IS_APPROX(gjk3.ray, ray3, SolverScalar(1e-8)); |
| 167 | |||
| 168 | // check that solutions are close enough | ||
| 169 |
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2000 | EIGEN_VECTOR_IS_APPROX(gjk1.ray, gjk2.ray, SolverScalar(1e-4)); |
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2000 | EIGEN_VECTOR_IS_APPROX(gjk1.ray, gjk3.ray, SolverScalar(1e-4)); |
| 171 | } | ||
| 172 | 2 | } | |
| 173 | |||
| 174 |
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4 | BOOST_AUTO_TEST_CASE(cv_criterion_same_solution) { |
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2 | Box box0 = Box(Scalar(0.1), Scalar(0.2), Scalar(0.3)); |
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2 | Box box1 = Box(Scalar(1.1), Scalar(1.2), Scalar(1.3)); |
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2 | test_gjk_cv_criterion(box0, box1, GJKConvergenceCriterionType::Absolute); |
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2 | test_gjk_cv_criterion(box0, box1, GJKConvergenceCriterionType::Relative); |
| 179 | 2 | } | |
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