| Directory: | ./ |
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| File: | src/BV/kDOP.cpp |
| Date: | 2025-04-13 14:25:19 |
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| Lines: | 64 | 110 | 58.2% |
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| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
| 5 | * Copyright (c) 2014-2015, 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 | #include "coal/collision_data.h" | ||
| 39 | #include "coal/BV/kDOP.h" | ||
| 40 | |||
| 41 | #include <limits> | ||
| 42 | #include <iostream> | ||
| 43 | |||
| 44 | namespace coal { | ||
| 45 | |||
| 46 | /// @brief Find the smaller and larger one of two values | ||
| 47 | ✗ | inline void minmax(Scalar a, Scalar b, Scalar& minv, Scalar& maxv) { | |
| 48 | ✗ | if (a > b) { | |
| 49 | ✗ | minv = b; | |
| 50 | ✗ | maxv = a; | |
| 51 | } else { | ||
| 52 | ✗ | minv = a; | |
| 53 | ✗ | maxv = b; | |
| 54 | } | ||
| 55 | } | ||
| 56 | /// @brief Merge the interval [minv, maxv] and value p/ | ||
| 57 | 90674648 | inline void minmax(Scalar p, Scalar& minv, Scalar& maxv) { | |
| 58 |
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90674648 | if (p > maxv) maxv = p; |
| 59 |
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90674648 | if (p < minv) minv = p; |
| 60 | 90674648 | } | |
| 61 | |||
| 62 | /// @brief Compute the distances to planes with normals from KDOP vectors except | ||
| 63 | /// those of AABB face planes | ||
| 64 | template <short N> | ||
| 65 | void getDistances(const Vec3s& /*p*/, Scalar* /*d*/) {} | ||
| 66 | |||
| 67 | /// @brief Specification of getDistances | ||
| 68 | template <> | ||
| 69 | 3126712 | inline void getDistances<5>(const Vec3s& p, Scalar* d) { | |
| 70 | 3126712 | d[0] = p[0] + p[1]; | |
| 71 | 3126712 | d[1] = p[0] + p[2]; | |
| 72 | 3126712 | d[2] = p[1] + p[2]; | |
| 73 | 3126712 | d[3] = p[0] - p[1]; | |
| 74 | 3126712 | d[4] = p[0] - p[2]; | |
| 75 | 3126712 | } | |
| 76 | |||
| 77 | template <> | ||
| 78 | 3126712 | inline void getDistances<6>(const Vec3s& p, Scalar* d) { | |
| 79 | 3126712 | d[0] = p[0] + p[1]; | |
| 80 | 3126712 | d[1] = p[0] + p[2]; | |
| 81 | 3126712 | d[2] = p[1] + p[2]; | |
| 82 | 3126712 | d[3] = p[0] - p[1]; | |
| 83 | 3126712 | d[4] = p[0] - p[2]; | |
| 84 | 3126712 | d[5] = p[1] - p[2]; | |
| 85 | 3126712 | } | |
| 86 | |||
| 87 | template <> | ||
| 88 | 3126712 | inline void getDistances<9>(const Vec3s& p, Scalar* d) { | |
| 89 | 3126712 | d[0] = p[0] + p[1]; | |
| 90 | 3126712 | d[1] = p[0] + p[2]; | |
| 91 | 3126712 | d[2] = p[1] + p[2]; | |
| 92 | 3126712 | d[3] = p[0] - p[1]; | |
| 93 | 3126712 | d[4] = p[0] - p[2]; | |
| 94 | 3126712 | d[5] = p[1] - p[2]; | |
| 95 | 3126712 | d[6] = p[0] + p[1] - p[2]; | |
| 96 | 3126712 | d[7] = p[0] + p[2] - p[1]; | |
| 97 | 3126712 | d[8] = p[1] + p[2] - p[0]; | |
| 98 | 3126712 | } | |
| 99 | |||
| 100 | template <short N> | ||
| 101 | 1681932 | KDOP<N>::KDOP() { | |
| 102 | 1681932 | Scalar real_max = (std::numeric_limits<Scalar>::max)(); | |
| 103 |
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1681932 | dist_.template head<N / 2>().setConstant(real_max); |
| 104 |
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1681932 | dist_.template tail<N / 2>().setConstant(-real_max); |
| 105 | 1681932 | } | |
| 106 | |||
| 107 | template <short N> | ||
| 108 | ✗ | KDOP<N>::KDOP(const Vec3s& v) { | |
| 109 | ✗ | for (short i = 0; i < 3; ++i) { | |
| 110 | ✗ | dist_[i] = dist_[N / 2 + i] = v[i]; | |
| 111 | } | ||
| 112 | |||
| 113 | Scalar d[(N - 6) / 2]; | ||
| 114 | ✗ | getDistances<(N - 6) / 2>(v, d); | |
| 115 | ✗ | for (short i = 0; i < (N - 6) / 2; ++i) { | |
| 116 | ✗ | dist_[3 + i] = dist_[3 + i + N / 2] = d[i]; | |
| 117 | } | ||
| 118 | } | ||
| 119 | |||
| 120 | template <short N> | ||
| 121 | ✗ | KDOP<N>::KDOP(const Vec3s& a, const Vec3s& b) { | |
| 122 | ✗ | for (short i = 0; i < 3; ++i) { | |
| 123 | ✗ | minmax(a[i], b[i], dist_[i], dist_[i + N / 2]); | |
| 124 | } | ||
| 125 | |||
| 126 | Scalar ad[(N - 6) / 2], bd[(N - 6) / 2]; | ||
| 127 | ✗ | getDistances<(N - 6) / 2>(a, ad); | |
| 128 | ✗ | getDistances<(N - 6) / 2>(b, bd); | |
| 129 | ✗ | for (short i = 0; i < (N - 6) / 2; ++i) { | |
| 130 | ✗ | minmax(ad[i], bd[i], dist_[3 + i], dist_[3 + i + N / 2]); | |
| 131 | } | ||
| 132 | } | ||
| 133 | |||
| 134 | template <short N> | ||
| 135 | ✗ | bool KDOP<N>::overlap(const KDOP<N>& other) const { | |
| 136 | ✗ | if ((dist_.template head<N / 2>() > other.dist_.template tail<N / 2>()).any()) | |
| 137 | ✗ | return false; | |
| 138 | ✗ | if ((dist_.template tail<N / 2>() < other.dist_.template head<N / 2>()).any()) | |
| 139 | ✗ | return false; | |
| 140 | ✗ | return true; | |
| 141 | } | ||
| 142 | |||
| 143 | template <short N> | ||
| 144 | 41454528 | bool KDOP<N>::overlap(const KDOP<N>& other, const CollisionRequest& request, | |
| 145 | Scalar& sqrDistLowerBound) const { | ||
| 146 | 41454528 | const Scalar breakDistance(request.break_distance + request.security_margin); | |
| 147 | |||
| 148 |
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41454528 | Scalar a = (dist_.template head<N / 2>() - other.dist_.template tail<N / 2>()) |
| 149 |
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41454528 | .minCoeff(); |
| 150 |
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41454528 | if (a > breakDistance) { |
| 151 | 17488 | sqrDistLowerBound = a * a; | |
| 152 | 17488 | return false; | |
| 153 | } | ||
| 154 | |||
| 155 |
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41437040 | Scalar b = (other.dist_.template head<N / 2>() - dist_.template tail<N / 2>()) |
| 156 |
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41437040 | .minCoeff(); |
| 157 |
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41437040 | if (b > breakDistance) { |
| 158 | 32230 | sqrDistLowerBound = b * b; | |
| 159 | 32230 | return false; | |
| 160 | } | ||
| 161 | |||
| 162 | 41404810 | sqrDistLowerBound = std::min(a, b); | |
| 163 | 41404810 | return true; | |
| 164 | } | ||
| 165 | |||
| 166 | template <short N> | ||
| 167 | ✗ | bool KDOP<N>::inside(const Vec3s& p) const { | |
| 168 | ✗ | if ((p.array() < dist_.template head<3>()).any()) return false; | |
| 169 | ✗ | if ((p.array() > dist_.template segment<3>(N / 2)).any()) return false; | |
| 170 | |||
| 171 | enum { P = ((N - 6) / 2) }; | ||
| 172 | ✗ | Eigen::Array<Scalar, P, 1> d; | |
| 173 | ✗ | getDistances<P>(p, d.data()); | |
| 174 | |||
| 175 | ✗ | if ((d < dist_.template segment<P>(3)).any()) return false; | |
| 176 | ✗ | if ((d > dist_.template segment<P>(3 + N / 2)).any()) return false; | |
| 177 | |||
| 178 | ✗ | return true; | |
| 179 | } | ||
| 180 | |||
| 181 | template <short N> | ||
| 182 | 18760272 | KDOP<N>& KDOP<N>::operator+=(const Vec3s& p) { | |
| 183 |
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75041088 | for (short i = 0; i < 3; ++i) { |
| 184 |
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56280816 | minmax(p[i], dist_[i], dist_[N / 2 + i]); |
| 185 | } | ||
| 186 | |||
| 187 | Scalar pd[(N - 6) / 2]; | ||
| 188 |
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18760272 | getDistances<(N - 6) / 2>(p, pd); |
| 189 |
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143828752 | for (short i = 0; i < (N - 6) / 2; ++i) { |
| 190 |
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125068480 | minmax(pd[i], dist_[3 + i], dist_[3 + N / 2 + i]); |
| 191 | } | ||
| 192 | |||
| 193 | 18760272 | return *this; | |
| 194 | } | ||
| 195 | |||
| 196 | template <short N> | ||
| 197 | 39222 | KDOP<N>& KDOP<N>::operator+=(const KDOP<N>& other) { | |
| 198 |
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418368 | for (short i = 0; i < N / 2; ++i) { |
| 199 | 379146 | dist_[i] = std::min(other.dist_[i], dist_[i]); | |
| 200 | 379146 | dist_[i + N / 2] = std::max(other.dist_[i + N / 2], dist_[i + N / 2]); | |
| 201 | } | ||
| 202 | 39222 | return *this; | |
| 203 | } | ||
| 204 | |||
| 205 | template <short N> | ||
| 206 | 39222 | KDOP<N> KDOP<N>::operator+(const KDOP<N>& other) const { | |
| 207 |
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39222 | KDOP<N> res(*this); |
| 208 |
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78444 | return res += other; |
| 209 | } | ||
| 210 | |||
| 211 | template <short N> | ||
| 212 | ✗ | Scalar KDOP<N>::distance(const KDOP<N>& /*other*/, Vec3s* /*P*/, | |
| 213 | Vec3s* /*Q*/) const { | ||
| 214 | ✗ | std::cerr << "KDOP distance not implemented!" << std::endl; | |
| 215 | ✗ | return 0.0; | |
| 216 | } | ||
| 217 | |||
| 218 | template <short N> | ||
| 219 | ✗ | KDOP<N> translate(const KDOP<N>& bv, const Vec3s& t) { | |
| 220 | ✗ | KDOP<N> res(bv); | |
| 221 | ✗ | for (short i = 0; i < 3; ++i) { | |
| 222 | ✗ | res.dist(i) += t[i]; | |
| 223 | ✗ | res.dist(short(N / 2 + i)) += t[i]; | |
| 224 | } | ||
| 225 | |||
| 226 | Scalar d[(N - 6) / 2]; | ||
| 227 | ✗ | getDistances<(N - 6) / 2>(t, d); | |
| 228 | ✗ | for (short i = 0; i < (N - 6) / 2; ++i) { | |
| 229 | ✗ | res.dist(short(3 + i)) += d[i]; | |
| 230 | ✗ | res.dist(short(3 + i + N / 2)) += d[i]; | |
| 231 | } | ||
| 232 | |||
| 233 | ✗ | return res; | |
| 234 | } | ||
| 235 | |||
| 236 | template class KDOP<16>; | ||
| 237 | template class KDOP<18>; | ||
| 238 | template class KDOP<24>; | ||
| 239 | |||
| 240 | template KDOP<16> translate<16>(const KDOP<16>&, const Vec3s&); | ||
| 241 | template KDOP<18> translate<18>(const KDOP<18>&, const Vec3s&); | ||
| 242 | template KDOP<24> translate<24>(const KDOP<24>&, const Vec3s&); | ||
| 243 | |||
| 244 | } // namespace coal | ||
| 245 |