GCC Code Coverage Report

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2011-2014, Willow Garage, Inc.
5			* Copyright (c) 2014-2016, 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_HIERARCHY_TREE_ARRAY_H
39			#define COAL_HIERARCHY_TREE_ARRAY_H
40
41			#include <vector>
42			#include <map>
43			#include <functional>
44
45			#include "coal/fwd.hh"
46			#include "coal/BV/AABB.h"
47			#include "coal/broadphase/detail/morton.h"
48			#include "coal/broadphase/detail/node_base_array.h"
49
50			namespace coal {
51
52			namespace detail {
53
54			namespace implementation_array {
55
56			/// @brief Class for hierarchy tree structure
57			template <typename BV>
58			class HierarchyTree {
59			public:
60			typedef NodeBase<BV> Node;
61
62			private:
63			struct SortByMorton {
64		43	SortByMorton(Node* nodes_in) : nodes(nodes_in) {}
65		24888	SortByMorton(Node* nodes_in, uint32_t split_in)
66		24888	: nodes(nodes_in), split(split_in) {}
67		208655	bool operator()(size_t a, size_t b) const {
68	3/4 ✓ Branch 0 taken 208655 times. ✗ Branch 1 not taken. ✓ Branch 2 taken 152863 times. ✓ Branch 3 taken 55792 times.	208655	if ((a != NULL_NODE) && (b != NULL_NODE))
69		152863	return nodes[a].code < nodes[b].code;
70	1/2 ✗ Branch 0 not taken. ✓ Branch 1 taken 55792 times.	55792	else if (a == NULL_NODE)
71		✗	return split < nodes[b].code;
72	1/2 ✓ Branch 0 taken 55792 times. ✗ Branch 1 not taken.	55792	else if (b == NULL_NODE)
73		55792	return nodes[a].code < split;
74
75		✗	return false;
76			}
77
78			Node* nodes{};
79			uint32_t split{};
80			};
81
82			public:
83			/// @brief Create hierarchy tree with suitable setting.
84			/// bu_threshold decides the height of tree node to start bottom-up
85			/// construction / optimization; topdown_level decides different methods to
86			/// construct tree in topdown manner. lower level method constructs tree with
87			/// better quality but is slower.
88			HierarchyTree(int bu_threshold_ = 16, int topdown_level_ = 0);
89
90			~HierarchyTree();
91
92			/// @brief Initialize the tree by a set of leaves using algorithm with a given
93			/// level.
94			void init(Node* leaves, int n_leaves_, int level = 0);
95
96			/// @brief Initialize the tree by a set of leaves using algorithm with a given
97			/// level.
98			size_t insert(const BV& bv, void* data);
99
100			/// @brief Remove a leaf node
101			void remove(size_t leaf);
102
103			/// @brief Clear the tree
104			void clear();
105
106			/// @brief Whether the tree is empty
107			bool empty() const;
108
109			/// @brief update one leaf node
110			void update(size_t leaf, int lookahead_level = -1);
111
112			/// @brief update the tree when the bounding volume of a given leaf has
113			/// changed
114			bool update(size_t leaf, const BV& bv);
115
116			/// @brief update one leaf's bounding volume, with prediction
117			bool update(size_t leaf, const BV& bv, const Vec3s& vel, Scalar margin);
118
119			/// @brief update one leaf's bounding volume, with prediction
120			bool update(size_t leaf, const BV& bv, const Vec3s& vel);
121
122			/// @brief get the max height of the tree
123			size_t getMaxHeight() const;
124
125			/// @brief get the max depth of the tree
126			size_t getMaxDepth() const;
127
128			/// @brief balance the tree from bottom
129			void balanceBottomup();
130
131			/// @brief balance the tree from top
132			void balanceTopdown();
133
134			/// @brief balance the tree in an incremental way
135			void balanceIncremental(int iterations);
136
137			/// @brief refit the tree, i.e., when the leaf nodes' bounding volumes change,
138			/// update the entire tree in a bottom-up manner
139			void refit();
140
141			/// @brief extract all the leaves of the tree
142			void extractLeaves(size_t root, Node*& leaves) const;
143
144			/// @brief number of leaves in the tree
145			size_t size() const;
146
147			/// @brief get the root of the tree
148			size_t getRoot() const;
149
150			/// @brief get the pointer to the nodes array
151			Node* getNodes() const;
152
153			/// @brief print the tree in a recursive way
154			void print(size_t root, int depth);
155
156			private:
157			/// @brief construct a tree for a set of leaves from bottom -- very heavy way
158			void bottomup(size_t* lbeg, size_t* lend);
159
160			/// @brief construct a tree for a set of leaves from top
161			size_t topdown(size_t* lbeg, size_t* lend);
162
163			/// @brief compute the maximum height of a subtree rooted from a given node
164			size_t getMaxHeight(size_t node) const;
165
166			/// @brief compute the maximum depth of a subtree rooted from a given node
167			void getMaxDepth(size_t node, size_t depth, size_t& max_depth) const;
168
169			/// @brief construct a tree from a list of nodes stored in [lbeg, lend) in a
170			/// topdown manner. During construction, first compute the best split axis as
171			/// the axis along with the longest AABB edge. Then compute the median of all
172			/// nodes' center projection onto the axis and using it as the split
173			/// threshold.
174			size_t topdown_0(size_t* lbeg, size_t* lend);
175
176			/// @brief construct a tree from a list of nodes stored in [lbeg, lend) in a
177			/// topdown manner. During construction, first compute the best split
178			/// thresholds for different axes as the average of all nodes' center. Then
179			/// choose the split axis as the axis whose threshold can divide the nodes
180			/// into two parts with almost similar size. This construction is more
181			/// expensive then topdown_0, but also can provide tree with better quality.
182			size_t topdown_1(size_t* lbeg, size_t* lend);
183
184			/// @brief init tree from leaves in the topdown manner (topdown_0 or
185			/// topdown_1)
186			void init_0(Node* leaves, int n_leaves_);
187
188			/// @brief init tree from leaves using morton code. It uses morton_0, i.e.,
189			/// for nodes which is of depth more than the maximum bits of the morton code,
190			/// we use bottomup method to construct the subtree, which is slow but can
191			/// construct tree with high quality.
192			void init_1(Node* leaves, int n_leaves_);
193
194			/// @brief init tree from leaves using morton code. It uses morton_0, i.e.,
195			/// for nodes which is of depth more than the maximum bits of the morton code,
196			/// we split the leaves into two parts with the same size simply using the
197			/// node index.
198			void init_2(Node* leaves, int n_leaves_);
199
200			/// @brief init tree from leaves using morton code. It uses morton_2, i.e.,
201			/// for all nodes, we simply divide the leaves into parts with the same size
202			/// simply using the node index.
203			void init_3(Node* leaves, int n_leaves_);
204
205			size_t mortonRecurse_0(size_t* lbeg, size_t* lend, const uint32_t& split,
206			int bits);
207
208			size_t mortonRecurse_1(size_t* lbeg, size_t* lend, const uint32_t& split,
209			int bits);
210
211			size_t mortonRecurse_2(size_t* lbeg, size_t* lend);
212
213			/// @brief update one leaf node's bounding volume
214			void update_(size_t leaf, const BV& bv);
215
216			/// @brief Insert a leaf node and also update its ancestors
217			void insertLeaf(size_t root, size_t leaf);
218
219			/// @brief Remove a leaf. The leaf node itself is not deleted yet, but all the
220			/// unnecessary internal nodes are deleted. return the node with the smallest
221			/// depth and is influenced by the remove operation
222			size_t removeLeaf(size_t leaf);
223
224			/// @brief Delete all internal nodes and return all leaves nodes with given
225			/// depth from root
226			void fetchLeaves(size_t root, Node*& leaves, int depth = -1);
227
228			size_t indexOf(size_t node);
229
230			size_t allocateNode();
231
232			/// @brief create one node (leaf or internal)
233			size_t createNode(size_t parent, const BV& bv1, const BV& bv2, void* data);
234
235			size_t createNode(size_t parent, const BV& bv, void* data);
236
237			size_t createNode(size_t parent, void* data);
238
239			void deleteNode(size_t node);
240
241			void recurseRefit(size_t node);
242
243			protected:
244			size_t root_node;
245			Node* nodes;
246			size_t n_nodes;
247			size_t n_nodes_alloc;
248
249			size_t n_leaves;
250			size_t freelist;
251			unsigned int opath;
252
253			int max_lookahead_level;
254
255			public:
256			/// @brief decide which topdown algorithm to use
257			int topdown_level;
258
259			/// @brief decide the depth to use expensive bottom-up algorithm
260			int bu_threshold;
261
262			public:
263			static const size_t NULL_NODE = std::numeric_limits<size_t>::max();
264			};
265
266			template <typename BV>
267			const size_t HierarchyTree<BV>::NULL_NODE;
268
269			/// @brief Functor comparing two nodes
270			template <typename BV>
271			struct nodeBaseLess {
272			nodeBaseLess(const NodeBase<BV>* nodes_, size_t d_);
273
274			bool operator()(size_t i, size_t j) const;
275
276			private:
277			/// @brief the nodes array
278			const NodeBase<BV>* nodes;
279
280			/// @brief the dimension to compare
281			size_t d;
282			};
283
284			/// @brief select the node from node1 and node2 which is close to the query-th
285			/// node in the nodes. 0 for node1 and 1 for node2.
286			template <typename BV>
287			size_t select(size_t query, size_t node1, size_t node2, NodeBase<BV>* nodes);
288
289			/// @brief select the node from node1 and node2 which is close to the query
290			/// AABB. 0 for node1 and 1 for node2.
291			template <typename BV>
292			size_t select(const BV& query, size_t node1, size_t node2, NodeBase<BV>* nodes);
293
294			} // namespace implementation_array
295			} // namespace detail
296			} // namespace coal
297
298			#include "coal/broadphase/detail/hierarchy_tree_array-inl.h"
299
300			#endif
301